一种全自主足球机器人单目视觉定位的新方法  

New Method for Autonomous Soccer Monocular Ision Position Determination

作　　者：于芳[1] 李祖枢[1] 王牛[1] 

机构地区：[1]重庆大学智能自动化研究所,重庆400030

出　　处：《计算机测量与控制》2007年第12期1781-1784,共4页Computer Measurement &Control

基　　金：国家自然科学基金项目(60274022;60574076)

摘　　要：一种适用于全自主足球机器人的单目视觉二维空间变换计算模型,解决了单目视觉像平面T′到实际场地平面T的二维空间平面映射问题;将单目视觉中目标物的帧存坐标系变换成机器人的世界坐标系,从而计算出目标物与机器人的垂直距离和水平距离;对采样点像坐标进行变换后的计算结果与采样点的实际位置坐标进行的对比实验证明,该算法具有较好的准确性和可靠性;该模型在Robo-cup全自主中型足球机器人比赛中,也实现了较为准确的目标位置判断。Monocular vision based 2-dimensional transformation calculation mode, which was applied on autonomous soccer robot, is developed and discussed, 2-dimensions plane mapping between monocular vision image plane T＇and real field plane T was completed. Frame coordinate system was transformed to world coordinate system by means of calculation mode, vertically distance and horizontal distance between object and robot was calculated. The calculation results from sampling point coordinates transformation was compared with sampling real position, the algorithm is proved to be accurate and reliable by experiment results. Object reorganization and position judgment have been successfully accomplished at RoboCup competition.

关 键 词：位置检测 单目视觉 全自主足球机器人 图像平面坐标系 世界坐标系 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]