| Robot soccer match is a kind of high technology match which has arisen around the world in recent years. With the development of robotic technique, it has become one of the hot focuses in this field. It combines the technique from information, automation, communication and AI, and provides a platform to test all these skills.In the soccer-robot system, vision system is a vital part; it is the"eye"of overall system. At the present time, all the information that the strategy system can get, comes from the vision system uniquely. The assignment of vision system is to grab the primal image of ground, then analyze, dispose and identify the image, accordingly get the motion state information of objects (ball and both robots). Finally it supply strategy system with all the information, used to command the robots.The soccer-robot's vision system is one of the research aspect of computer vision, it is a system based on color and multi-target tracking. It's identifying the color image, needs to identify the objects accurately in a very short time, and can be adapted to the variational illumination. It is significance for the academic researching of computer vision and practice of interrelated technology.The work is to design and actualize the FIRA MiroSot soccer-robot's vision system, to construct a integrated vision system, to practice the theory. The following work has been completed:①Introduce interrelated vision theory and technology;②Analyze the basic design request of soccer-robot vision system;③Design and actualize the whole soccer-robot system;④Put forward and actualize the image segmentation algorithm;⑤Put forward and actualize the object characteristic identifying algorithm.Practices demonstrate the vision system can identify the objects commendably, supply strategy system with plenteous information; can be used in to the actual combat. This soccer-robot system achieve good success, runner-up and third in the countrywide match, meanwhile set up a platform for upper researching. |
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