一种鲁棒性足球机器人视觉系统的研究方法

A Robust Object Recognition Method for RoboCup Soccer Robots

颜色识别在中型组机器人足球比赛中处于非常重要的地位。不均匀以及动态的光照条件对比赛会造成不小的影响。基于全景视觉系统提出一种鲁棒性的目标识别方法,采用YUV色彩模型,在手工调节方法获得高斯模型的均值和方差的基础上,找到适合的颜色区域。实验证明这种方法在光照改变平缓的情况下有较好的识别效果。

The recognition of colored objects is very important for robot vision in RoboCup Middle Size League competition.Dynamically changing light conditions can cause lots of difficulties to it.This paper describes a robust object recognition method based on our omni-directional vision system.The conditional probability density distributions of the YUV values mapping to each color are verified to be Gaussian and the means and variances are obtained by manual calibration,the classifying seeds are selected based on the means and variances.The experimental results show that the recognition method can be adaptive to light conditions when the illumination is not changed very suddenly and greatly.