摘要
设计了AS-R自主机器人异构双目视觉系统,用于实现Robocup比赛中对足球的运动检测,视觉图像由云台摄象机EVI-D100/P采集;通过分析比较传统的运动检测方法,如背景图象差分法、时态差分法、基于块运动检测法和光流法的优缺点,采用了一种基于Canny算子的自适应动态背景差分算法用于获取球场前景信息;实验结果表明,该方法能有效检测出运动目标,具有较好的实用性。
Vertical iso-vision system of AS-R autonomous mobile robot is designed for motion detection in RoboCup competition. Video images can be obtained by EVI-D100/P camera. Analysis and comparison are made among the traditional motion detection approehes such as background differencing, Temporal differencing, block based method and optical flow. An adaptive background subtraction algorithm combined with Canny operator is adopted to abtain kinetic information, Experimental results demonstrate that this method can detect moving targets effectively and practicably.
出处
《计算机测量与控制》
CSCD
2006年第1期26-27,42,共3页
Computer Measurement &Control
