| 机器人足球视觉系统研究与实现 |
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| 引用本文： | 孙良旭 刘任平 王丽君. 机器人足球视觉系统研究与实现[J]. 鞍山科技大学学报, 2005, 28(5): 363-367 |
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| 作者姓名： | 孙良旭 刘任平 王丽君 |
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| 作者单位： | [1]鞍山科技大学计算机科学与工程学院,辽宁鞍山114044 [2]北京交通大学机电学院,北京100044 |
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| 摘 要： | 在机器人足球比赛这项综合性的高技术对抗活动中,快速准确地识别足球和机器人是决策系统的基础.提出一套机器人足球视觉软件系统的设计实现方案.采用直接TUV颜色模型输出,目标阈值建立采用手动和自动方式.利用颜色标志设计的对称性,改进累加取平均算法和旋转搜索算法,采用改进跟踪搜索算法进行目标搜索,提出智能组合算法思想.实验测试系统达到30帧/s处理速度,目标搜索准确性达到95%以上.
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| 关 键 词： | 机器人 足球 视觉 实时 |
| 文章编号： | 1672-4410（2005）05-0363-05 |
| 收稿时间： | 2004-09-25 |
| 修稿时间： | 2004-09-25 |
Research and realizaiton of robot soccer vision system |
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| SUN Liang-xu,LIU Ren-ping,WANG Li-jun. Research and realizaiton of robot soccer vision system[J]. Journal of Anshan University of Science and Technology, 2005, 28(5): 363-367 |
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| Authors: | SUN Liang-xu LIU Ren-ping WANG Li-jun |
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| Affiliation: | 1. School of Computer Science and Engineering, Anshan University of Science and Technology, Anshan 114044, China; 2. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Biejing 100044, China |
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| Abstract: | Quick and correct recognition of the ball and the robots is the foundation of decision system in robot soccer game which is an integrated competition activity based on high technology. A design and realization scheme of vision software system in robot soccer game with direct YUV color model output and with manual and automatic manners to build object threshold value was in troduced. With symmetry of color symbol design, algorithm of accumulation, averaging was improved, improved track searching algorithm for object searching was adopted and algorithm idea of intellignece combinaiton was proposed. Experiments and tests indicate that the system achieves 30 frames/s of processing speed and the accuracy of object searching achieves above 95 %. |
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| Keywords: | robot soccer vistion real-time |
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