Research On Vision System For RoboCup Middle-Size League

The robot soccer, as a hard nut to crack, is a research focus in the field of the robot control, machine vision, artificial intelligence, and multi-robots systems. Middle-Size League, as a crucial competition in RoboCup, provides a standard testing environment for the machine vision techniques. This thesis introduces the design and implement of the vision system for the middle-size league of RoboCup-the World Cup of Soccer Robots. The system is composed of catadioptric omni-directional vision process and monocular front vision process. The system is used for image acquisition, object recognition and object positioning. This system is stable, which can meet the need of the performance in real-time and locating precision of competing system.The primary research is as follows:1. the thesis designed and realized a vision system according to the need of Middle-Size League in RoboCup, expounded the framework of the system, the composed of the catadioptric omni-directional vision process and monocular front vision process, and explain the hardware assembling and parameter choice.2. the thesis discuss the image poccess arithmetic of catadioptric omni-directional vision process, classified the color under YUV color space, segment the image using run length coding, calculate the position of the goals and the posts, and handle the interference that may arise during the pocess. The localization methods are given to solve the problem of positioning.3. aiming at making up the limittion of catadioptric omni-directional vision process that lacks of nearby image information, this thesis discuss the image poccess arithmetic of monocular front vision process. After dealing with the images, such as image pretreatment, image segmentation and image recoginition, the system will finally identify the position of the object correctly and quickly, the experiment and the practical match show that this method is feasible and practicable.At the end of this dissertation, the main research is summarized. It makes out the points of innovation and main research results, also give the shortage in the dissertation and the problem need to further research.