高效可靠的足球机器人视觉系统

Efficient and Reliable Vision System for Soccer Robots

为了提高足球机器人的环境感知能力,设计基于扫描线和粒子滤波跟踪器的视觉系统。该视觉系统以颜色为判定依据,利用扫描线和颜色查找表对像素进行颜色归类,接着采用链码技术求取目标区域重心,最后采用粒子滤波跟踪器来对运动目标进行跟踪定位。实验结果表明,该视觉系统是高效可靠的。

In order to improve the ability of perceiving environment for soccer robot,develops a perspective vision system based on radial search lines and particle filter tracker.The perspective vision system uses radial search lines and lookup tables to classify pixel according to the color of pixel,while using chain code to calculate the center of gravity of the object.And finally uses the particle filter tracker to track moving object.The experimental result shows that the vision system is highly efficient and reliable.