基于彩色图像分割的机器人的目标识别

Object recognition based on color segmentation in soccer robot

以全自主型足球机器人的视觉系统为研究对象,介绍了一种基于彩色图像分割处理的目标识别方法。根据足球机器人系统中视觉系统的实际应用环境,分析对比了不同颜色空间的优缺点,采用HSV颜色空间作为视觉系统的工作空间,减弱了光照变化对视觉系统带来的影响。针对足球机器人系统中对视觉系统实时性的具体要求,提出了一种通过量化HSV颜色空间获得直方图阈值,再通过阈值进行彩色图像分割方法。这种方法大大减少了视觉系统的工作量,提高了系统的实时性。

This paper represents a technique for object recognition is proposed based on color image segmentation in soccer robot vision system. For the application environment of robot soccer system, and to meet the need of the robot soccer system, this thesis analyzed some different color spaces, and selected HSV color space as the work space of the vision system, in which the disturb of the change of illumination is minimized. To meet the real-time demand in the robot soccer competition, this thesis proposed a color image segmentation method using improved quantificational HSV color space. We can get the threshold from the color histogram. The threshold is applied to implement the partition of object images. This method greatly reduces the workload of the visual system, so the speed of the system is improved a lot.