Research On Color Calibration And Recognition Algorithm Of Robots In Vision System Of MiroSot

With the development of robot technique, soccer robot 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.Vision system is the most important apparatus for human being and people acquire most of information from the outside world by their vision systems. In the process of human being's exploration to the nature world, man always hope to find some machine-computing ways to achieve human being's vision function, and to acquire information automatically from outside world. Robot-soccer vision system is just based on chromatic image processing, and with a great demand for its real-time performance, then it can be an ideal subject for those above research fields.The major content of this paper is to research MiroSot vision subsystem. Vision subsystem is a unique way through which the whole system obtain the information of the game. Whether the vision subsystem obtain the information of the game quickly and accurately is the key of the whole game, it's capability directly affects the victory or defeat of the game. Vision subsystem needs to process real-time track and recognition for chromatic game image, and realize robot vision functionIn view of research present situation of vision system, combining with our production which has been researched in this system for many years, the major contents of this paper r include:Firstly, Research on the off-line object color calibration. Color calibration is an effective method of establishing object color information database. Because the manual color calibration which is widely used presently has some disadvantages, for example, fussy, time-consuming, and can't acquire the object color accurately, and so on, so this paper presents a quick method of object color calibration, which is able to establish a reliable and integrated object color information database in short times.Secondly, Research on recognition algorithm of color sign. In MiroSot, the whole system obtains the information of robot's position through recognizing the color sign on top of robot. Designing the color sign is a problem in soccer-robot's vision system. The design of color sign is related to recognition algorithm of color sign. A excellent design of color sign do not only enhance recognition accuracy, but also improve real-time and anti-interference performance for system. This paper presents a design scheme of color sign and a quick recognition algorithm based on the circumscribed rectangle of color field to enhance vision system's performance.