机器人足球视觉系统中的实时图像处理

An algorithm for real-time image processing in the robot soccer vision system

视觉系统是整个机器人足球系统的重要组成部分。根据机器人足球视觉系统的特点,提出基于游程长度编码(RLE)的实时快速图像处理算法。算法使用RLE对图像进行压缩,并且在处理阶段高效识别出图像中目标的尺寸和位置。压缩阶段算法的时间复杂度与图像尺寸成线性关系,图像处理阶段算法的时间复杂度与图像中目标的个数和每个目标所占的扫描行数成线性关系。

Vision system is an important part of the whole robot soccer system. Based on the characteristics of the robot soccer vision system, an algorithm using Run Length Encoding (RLE) for real-time image processing is presented. RLE compresses the image and allows the processing algorithm to efficiently identify the size and position of the objects in the image. It is shown that the time complexity of the compression phase is linear with the size of the image while the image processing phase is linear with the number of objects in the image and the number of lines occupied by the objects in the image.