一种鲁棒的基于全景视觉的足球机器人目标识别方法  

Robust Method of Target Recognition for Soccer Robot Based on Omni-Directional Vision

作　　者：戚玮玮[1] 栾新[1] 宋大雷[2] 张玲[2] 于方杰[1] 

机构地区：[1]中国海洋大学信息科学与工程学院,山东青岛266100 [2]中国海洋大学工程学院,山东青岛266100

出　　处：《中国海洋大学学报（自然科学版）》2011年第6期109-114,共6页Periodical of Ocean University of China

摘　　要：由于光照的变化和全景视觉的畸变,全自主足球机器人对目标识别不稳定且有效性差,为此提出了1种基于Gabor滤波器和支持向量机(SVM)的全自主足球机器人目标识别方法。首先根据颜色特征和面积、长宽比等简单形状特征提取候选目标,候选目标中包含实际的目标和与目标颜色相近且通过上述简单形状特征判断仍无法消除的干扰。将候选目标与Gabor滤波器作卷积来提取特征向量,将特征向量输入SVM进行分类,识别出实际的目标。在机器人MT-R的足球目标识别中对该方法进行了实验,实验表明该种方法具有较好的识别精度,且满足足球机器人的实时性要求。It is a difficult problem for autonomous soccer robot to recognize similar color targets because of the illumination changes and the omni-directional vision distortion.A robust method of objects recognition for autonomous soccer robot based on Gabor filters and support vector machine is proposed.Firstly,candidate targets are extracted based on color threshold and simple shape features.Then,images containing candidate targets are convoluted with the Gabor filter,from which the feature vector is extracted.The target recognition is performed by the support vector machine.Experiments have been carried out on the soccer robot M-TR for the ball recognition.Experimental results prove the high target recognition accuracy and real-time performance of the proposed method.

关 键 词：足球机器人 目标识别 GABOR滤波器 支持向量机 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]