全自主足球机器人快速目标识别与定位方法

Fast recognization and localization of objects by full-autonomous soccer robot

为使机器人视觉系统能够快速、稳定地进行目标识别和定位,采用多阈值粗分割和区域细分割相结合的彩色图像分割算法,以提高特征提取的鲁棒性.在基于区域分割的算法中采用快速游程连通性分析算法,保证了目标识别的实时性.对已识别的目标,利用摄像机针孔模型完成单眼的实时定位.该系统能满足全自主足球机器人对目标识别与定位实时性和鲁棒性的要求,已成功地应用于HIT-Ⅱ型自主足球机器人中.

A hybrid color segmentation algorithm integrates threshold-based and region-based segmentations to guarantee quick and robust recognization of objects by the robot vision system, a pin-hole model is established for object localization using single camera. This vision system satisfies robot's requirement for real-time and robustness, and has been successfully applied to HIT-Ⅱrobot.