Research Of Large League Mirosot Vision System

Robot vision system, which is an important component of the robot system to achieve similar functions as the human eye, is a specific application of machine vision systems in robot system. The vision subsystem of Large League Mirosot, which was appeared firstly in FIRA 2004, is studied in this paper. And the Large League Mirosot vision system is designed to solve the problems led by the bigger match ground and more robots.First, the foundation of Large League Mirosot vision system hardware is built in terms of Marr theory and machine vision system's architecture and components.Two cameras are used to meet the demand of eye shot and identifying resolution.It also avoid the dead-zone problem. Interconnection of two computers is adopted to process the large volume of image data and decision-making programm.Second, in response to uneven illumination intensity, an in-depth study focusing on analysis and comparison of RGB, YUV and HSI color model characteristics is conducted. RGB color lookup table is constructed based on the HSI model. Color image segmention is done based on the table.It's a solution to meet the needs of uneven distribution of light intensity and real-time identification.Third, an in-depth study of image distortion correction of wide-angle imaging system is conducted. An overview of the imaging camera model, distortion and distortion correction model is introduced, and on this basis the polynomial correction method is used to correct the distortion of the ground image. It can improve the positioning accuracy of roborts or ball. Also the information of robots or ball in the area shot by both the cameras is integrated.Fourth, a research of color match is made for the Large League Mirosot robots. A rectangular color match design is expressed. In this method 11 robots can be indicated with only three kinds of color. The center point of the robot is calculated in a greater accuracy. And the orientation angle is accurately calculated by the direction of the long axis of rectangular. The rectangular color match design can achieve color design purposes well.Finally, the visual system interface between human and computer is programmed with VC++ 6.0. And the RGB color lookup table based on HSI is structured. Polynomial image distortion correction and algorithm to identify the color match are also programmed.