东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2006, Vol. 27 ›› Issue (1): 9-12.DOI: -

• 论著 • 上一篇    下一篇

自主足球机器人视觉系统结构及关键技术

段勇;徐心和;   

  1. 东北大学教育部暨辽宁省流程工业综合自动化重点实验室;东北大学教育部暨辽宁省流程工业综合自动化重点实验室 辽宁沈阳110004;辽宁沈阳110004
  • 收稿日期:2013-06-23 修回日期:2013-06-23 出版日期:2006-01-15 发布日期:2013-06-23
  • 通讯作者: Duan, Y.
  • 作者简介:-
  • 基金资助:
    国家自然科学基金资助项目(60475036)

Framework and key technologies of autonomous soccer-robot vision system

Duan, Yong (1); Xu, Xin-He (1)   

  1. (1) Key Laboratory of Process Industry Automation of Liaoning Province, Northeastern University, Shenyang 110004, China
  • Received:2013-06-23 Revised:2013-06-23 Online:2006-01-15 Published:2013-06-23
  • Contact: Duan, Y.
  • About author:-
  • Supported by:
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摘要： 提出了自主足球机器人嵌入式多处理器体系结构以及视觉系统的构成框架.对单目视觉系统所涉及的关键技术进行了详细的分析和研究,其中包括图像分割、目标搜索算法、目标定位和机器人自定位技术.基于YUV颜色空间,对目标进行分割,并通过连通区合并来快速搜索目标,同时根据摄像机模型来确定目标的空间位置.实验表明分布式视觉体现结构能够实时准确地完成视觉处理任务.以上新算法可以快速鲁棒地搜索图像目标,并能较精确地确定目标的位置信息和机器人的自定位信息.

关键词: 足球机器人, 图像分割, 目标搜索, 目标定位, 机器人自定位

Abstract: The system structure of a multi-processor embedded autonomous soccer-robot and relevant framework of vision system are proposed. The key technologies of single camera vision system are analyzed in detail, including the color image segmentation, algorithms for searching objects, object localization and robot self-localization. The objects are segmented on the basis of YUV color space. Moreover, the objects are searched by way of merging the connexity regions. The linearity model of camera is utilized to locate the spatial position of objects. The experiment results showed that the image objects can be found accurately real-time and that the newly developed algorithm can robustly and quickly search image objects and acquire the comparatively accurate information on their positions and robot self-localization.

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