足球机器人视觉图像分割算法  

Objective segmentation method of video image in robot soccer

作　　者：李晓瑜[1] 杨马英[1] 

机构地区：[1]浙江工业大学信息工程学院,杭州310023

出　　处：《吉林大学学报（工学版）》2013年第S1期260-264,共5页Journal of Jilin University:Engineering and Technology Edition

基　　金：浙江省重点科技创新团队基金项目(2009R50014)

摘　　要：为提高机器人在比赛中对多目标提取及识别的准确度和效率,采用离线的自适应阈值颜色分类法,同时识别不同颜色的多个目标物,对颜色的变化有一定的适应性;然后用改进的数学形态学中的膨胀腐蚀算法对颜色分类后的图像滤波,该方法在保证图像处理效率的同时提高分割精度;最后使用种子填充法来实现同时分割和多目标特征提取,减少像素点遍历次数,提高算法效率。实验证明,通过上述方法可以使足球机器人适应一定的光照变化,准确快速地分割多个目标。In order to improve the accuracy and efficiency of multi-objective extraction and recognition in robot soccer image processing,offline adaptive threshold value color classification was adopted,different colors of multiple targets were identified,which had certain flexibility to the color changes.An improved corrosion and expansion algorithm in mathematical morphology was proposed to filter the image whose color was classified,thus improved the image processing efficiency and enhanced the segmentation accuracy.Seed filling method was employed to simultaneously implement segmentation and multi-objective feature extraction,and thereby the times of pixel traverse was reduced and the efficiency of the algorithm was increased.It is illustrated by the experiments that the above method can make the robot soccer adapt to certain illumination change and make multi-objective segmentation accurately and rapidly.

关 键 词：足球机器人 视觉系统 图像分割 目标识别 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]