机器人足球视觉系统研究与实现

Research and realizaiton of robot soccer vision system

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YUV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。

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 %.