中型组足球机器人抗干扰系统的研究  

A Study of Medium-sized Group of Soccer Robots Anti-jamming System

作　　者：钱晟[1] 毛丽民[1] 张亚飞[1] 浦宇欢[1] 

机构地区：[1]常熟理工学院电气与自动化工程学院,江苏常熟215500

出　　处：《常熟理工学院学报》2012年第10期95-99,共5页Journal of Changshu Institute of Technology

摘　　要：提出了结合RGB和HSI色彩空间的颜色算法以减少光照干扰,基于HSI颜色模型对图像进行二值处理消除噪声;根据实际现场环境,选取最佳方案消除场周围的颜色干扰.实际运行测试表明了该方法的有效性.The vision subsystem is one of the most important parts in the football robot system. The vision sub- system mainly includes real-time, accuracy and adaptability. This paper completes the anti-interference process- ing mainly from three aspects. The First is light interference. The paper uses a color extract algorithm which combines RGB color space and HSI color space. Using RGB color model to collect image, it is transformed into HSI color model immediately. The HSI color model is not sensitive to light, so it can be used for color calibra- tion. The second is the color impurity. Based on the HSI color model, the picture is dealt with to eliminate the noise by erosion and dilation. The authors of this paper select the most appropriate spatial color model conver- sion to reduce impurities interference effects. The third is some color interference surrounding the match field. Some solutions have been reached in this paper. According to the act＇ual environment, the best one is selected to eliminate environmental interference. The actual running tests show the effectiveness of the image process method.

关 键 词：视觉系统 颜色模型 干扰 

分 类 号：TP368.1[自动化与计算机技术—计算机系统结构]