Research On Object Recognition And Self-localization In Soccer Robot

Robot soccer is an emerging interdisciplinary field that involves robotics, intelligent control, image processing, computer vision and other fields. It is currently a hot and difficult research topic. Robot perception system as an important part of soccer robot system, its development remarkably influences the robot technology. Middle-Size League is an important part of RoboCup, It has full autonomy and high practical value. In this paper, used Middle-Size League as a research platform for robot soccer, researched the key technologies of the object recognition and localization, include omni-directional vision imaging modeling, rapid object recognition and its localization, and robot self-localization.Firstly, based on the sub-system dividing of robot, and the main perceptual task, this paper designed the architecture of the robot perceptual system, introduced the hiberarchy of perceptual system and the achievement of perceptual task, point out the contents, which need in-depth research in perceptual system.Secondly, according to the main imaging factor and the distortion of the Spherical object, this paper presented a new omni-directional reflection mirror design method, which used catadioptrics with the pinhole projection as the imaging type and the convex mirror as the basic mirror type. This paper proposed Radial Length Projection Model, constructed Radial Length Projection Function based on the Spherical object Expected imaging, used Radial Length Projection Function and the theory of geometrical optics, obtained the mirror shape and the parameters.Thirdly, according to the real-time and precision requirement, this paper presented a new method for rapid object identification and its localization. This method contains the object component segmentation, the component labelling and the component repair. This paper used HSI color space to segment the object component based on the object color characteristic, presented a rapid component labelling algorithm based on contour, obtain the characteristic include contour, while rapidly processing, used the contour and the character of convex, presented the object component repairing algorithm, improve the precision of object localization.Finally, according to the large game field, this paper presented a new robot self-localization method. This method obtained the initial information of white lines by omni-directional vision, converted the initial information to the part-global information of white lines by the orientation which is obtained through electronic compass, used the while line true vertical intersection type, the length and distance of assistant white line, localization area priority algorithm to identify the best area for localization, obtained the pose by the information of the intersection point, which belong to the true vertical intersection while line, and then achieve robot self-localization.