In order to solve the problem of the hard balance of the accuracy and speed in motion estimation of flotation surface bubbles,a fast motion estimation algorithm combined of bubble tracking and phase correlation technique was proposed.Firstly,the two continuous images in a sequence were preprocessed by zooming out on gray value minimum.Then the high gray value area of each bubble was extracted to complete the bubble tracking based on image segmentation method.Phase correlation was finally used to obtain the motion vectors of the bubbles.Block phase correlation method was further employed to obtain the detailed displacement feature for each block.Simulation results verified the estimation efficiency and accuracy of the proposed algorithm.Experimental results on a lead zinc flotation plant showed that the proposed algorithm can obtain real time motion vectors, and the detailed motion feature of each block can be obtained by the block phase correlation method.The bubbles motion data of each flotation cell showed the following characteristics.The bubble displacement motion of each flotation cell is in a certain cycle.The displacement motion distribution curve and the turbulence degree distribution curve of the same level flotation cell are the similar, and maintaining a certain degree of bubble movement turbulence can improve the grade of concentrate.
