基于傅里叶变换的Fira机器人朝向角辨识算法

FFT-based orientation identification algorithm in fira

提出了一种利用互功率谱进行集控式足球机器人系统(Fira)中机器人朝向角识别的新方法。该方法将分割得到的机器人目标图像和参考图像进行边缘提取,边缘图像经过快速离散傅里叶变换后,转换到对数极坐标系下,这样可以将笛卡儿坐标空间中图像的旋转和缩放转化为对数极坐标系空间中图像的二维平移,进而采用相位相关法得到小车的朝向角。实验结果表明,该方法精度高,鲁棒性好,朝向角辨识结果绝对误差在2°以内。

A novel cross-power spectrum based orientation identification algorithm in Fira is proposed. In the algorithm, the object edge image and the referenced edge image are transformed into log-polar coordinate space after FFT,by which rotation and scaling in Cartesian corrdinate space can be reduced to 2-D translation in log-polar coordinate space. The orientation of the robots can be estimated by phase correlation technique. Experimental results show that the proposed algorithm has high precision and robustness with the absolute error of less than 2°.