Study On RoboCup Small Size Soccer Robot Vision System

Robot Soccer Competition, which is a basic research topic in both Artificial Intelligence and Robot fields, is a technological competition that has developed rapidly in recent years. As a basic research topic, it is a challenging high technology project and meanwhile, it is also the ideal breakthrough point of Multi-agent technology. It involves many related areas including Robots, Precision Machinery, Automatic Control, Computer Vision and Image Processing, Multi-agent Coordination, Image Fusion and so on.. Hence, Robot Soccer Competition is a standard platform for researching Multi-agent Technology, Intelligent Control, Computer Vision and so on. The research has a profound significance in theory and application.This paper takes the Small-sized Soccer Robot Competition as the research platform to study the Vision Subsystem which is the eyes of the Robot. Vision subsystem is the main channel of Intelligent Soccer Robot acquiring the outside information and is also the research basics of the overall system. The main functions of Vision subsystem are: to continuously get the information of venues through camera, then to process the acquired images including denoise and enhancement, target segmentation, target recognition and tracking and so on, and finally, to transmit the final data that is processed to Decision Subsystem. As the eyes of Robot, Vision Subsystem needs strong real-time performance in high-speed competition and it has a decisive role to the competition results. This paper mainly discusses the Vision Subsystem of Soccer Robot, the follows are mainly included:(1) In the part of camera calibration, the calibration method of zhengyou Zhang based on OpenCV is adopted and a better result has been got.(2) In the part of image segmentation, to obtain the threshold of different color through sampling a variety of colors before the first game. In the case of stable light source, a better image segmentation result has been got.(3) According to color design basis and existing technology, a set of color logos of Soccer Robot are designed which are simple and easy to identify.(4) The position, direction and numbers of intelligence robot, the position of soccer and so on are recognized in target recognition.