RoboCup中型组机器人物体识别技术研究

参加RoboCup中型组机器人足球赛的机器人需要能够根据预定义的色标块准确并实时地识别出场上双方机器人和球的位置、朝向等信息。由于外界环境噪声的存在及标志物的复杂性,识别算法在保证响应速度的同时还必须保持识别的稳定,不仅要求能够正确地分辨出目标物体,还要对比赛中可能出现的异常情况加以处理,所以需要分析误识别产生的机理,并进行相应的处理。本文对基于RoboCup中型机器人足球比赛的物体识别技术进行了研究,提出了一种可靠的识别算法。该算法利用阈值选定、面积变化、色点密度等信息特征,结合运动变化预测抑制和消除各种可能影响识别精度的因素。实验证明,该算法性能可靠、处理速度快,可以较好地满足比赛的实时性要求。

Robust Object Identification of RoboCup Mid-size Robot

The robot in the RoboCup mid-size group match must be capable of identifying the positions and directions of other objects in the match through predefined color patterns in real time. Because of the existence of noise and the complexity of signal objects, the identification algorithm must assure the whole process of identification stable and make the response time as short as possible. The objects should be correctly classified and the possible exceptional conditions must be taken care of. So one has to study various kinds of misidentification. This paper proposes a possible algorithm to deal with this problem. The algorithm minimizes the effects of noise through the use of the prediction of the objects' moving direction and the characteristic information of objects like the color pattern, area change ratio and the density of color dots. The experiment confirms that the algorithm can minimize the effects of noise, identify objects fast and accurately under the conditions of a match.