足球机器人视觉子系统的改进

Improvement of Soccer Robot Vision Subsystem

简要概括了YSU足球机器人系统的视觉结构框架,对视觉系统的关键技术进行了详细介绍,通过几何矫正,克服了成像系统本身存在的图像形变问题.为了提高足球机器人图像处理的速度与精度,在分析了RGB彩色空间模型的优缺点后,提出采用HSV彩色空间模型进行图像处理,并根据足球机器人比赛的实际情况对HSV彩色空间模型做了相应改进.此外提出了一种基于连续图像相关性的顺序网格和种子填充相结合的目标搜索方法.

Summarized the vision structure frame of the YSU soccer robot system and detailedly introduced the key technique of the visual system. Throuth geometric correetion,it settled the problem of image deformation existing in imaging system itself. In order to improve image processing speed and precision, proposed the HSV color space model to process image,after analyzing the RGB color space model advantage and shortcomings. According to the soccer robot competition actual situation improved the HSV color space model. In addition,it proposed a kind of target searching algorithm based on the relevance of order grid and the seed filling.