基于色彩与形状的机器人足球识别方法  

Soccer recognition method for robots based on colors and shapes

作　　者：杨东超[1] 宾洋[1] 张继文[1] 

机构地区：[1]清华大学精密仪器与机械学系,北京100084

出　　处：《计算机应用》2008年第S2期174-175,184,共3页journal of Computer Applications

基　　金：国家自然科学基金资助项目(50605036)

摘　　要：机器人能够快速、正确地识别足球十分重要。由于RoboCup对颜色进行了严格地规定,所以常见的识别方法仅基于色彩,该法的不足之处是容易受到等场条件的影响。利用Matlab中的图像处理函数,提出了一种基于色彩和形状的识别足球的新方法,即首先通过色彩筛选过滤图像中较多的无关目标,在对图像进行边缘检测后再采用欧拉数以及面积大小进行二次过滤,最后利用偏心率对足球进行识别。实例表明该法简单、有效、鲁棒性强。It is important for robot to acknowledge soccer quicklly.Many robot teams look for soccer by colors because colors of different objects are regulated in RoboCup.Unfortunately,this method is easily affected by lights.A new method based on colors and shapes was proposed by using functions in Matlab.At first,many uninterested objects were omitted by simple sorting on colors,then the rest were filtered by Euler numbers and areas after edges have been checked.Finally,soccer was recognized through eccentricity.Two examples prove the validity and simpleness of this method.

关 键 词：机器人 足球识别 图像处理 MATLAB 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]