足球机器人视觉系统光强自适应算法研究

A Light Self-Adaptive Algorithm for the Vision System of Robot Soccer

研究足球机器人比赛问题,比赛环境的光强度变化严重影响足球机器人视觉系统的识别性能。为提高机器人视觉识别率,提出了一种基于HSI颜色空间模型的光强自适应算法。算法将比赛场地划分为若干区域,利用HSI颜色空间模型可以分离环境光强度信息的特点,在比赛中动态更新所有划分区域的HSI颜色空间,提高了机器人视觉系统对光强变化的自适应能力,实现了机器人对比赛场地信息的精确辨识。因此用算法优化机器人视觉识别系统进行仿真。结果表明,在实际比赛中,算法能够有效降低环境光强度变化,大大提高了对足球机器人视觉辨识性能。

During a robot soccer game,the distinguish ability of the robot vision system can be strongly influenced by the changing of the environment＇s illumination.Aimed at this problem,a self-adaptive algorithm of illumination which based on the HSI color space model has been given.The algorithm divided the game field into several area,using the characteristic of the HSI color space model which can separated the illumination information,update the HSI color space of each area in the game dynamically,in order to improve the self-adaptive ability of changing illumination of the robot vision system,achieved the precise distinguishing of the robot in a robot soccer game.Integrating this algorithm into the robot vision system and used it in a real robot game,the results show that this algorithm can efficaciously decrease the influence on the robot vision system made by the illumination changing,and the calculating time is acceptable.