中型组足球机器人全场定位系统的研究  

A Research into Omni-vision Based Location for Middle-sized Soccer Robot

作　　者：耿小飞 毛丽民[1] 庄梦秋[1] 夏德伟[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100-103,共4页Journal of Changshu Institute of Technology

摘　　要：针对基于两个特征点的全场定位中存在盲区、定位不够精确、不够稳定等缺点,提出了一种基于场线信息的全场定位方法,该方法Hough变换检测场线,并利用场线信息定义世界坐标系.在满足实时性要求的情况下,实现了精确,稳定的定位.Accurate omni positioning is the premise of the medium-sized group of robots working properly. Om- ni positioning based on two feature points is neither precise enough nor stable enough and there is a dead zone, which proposes an omni positioning method based on the information of the field lines. The Hough is trans- formed to detect field lines, and the world coordinate system of the message definition of the field lines is used to meet the real-time requirements of the case so that accurate and stable positioning can be achieved.

关 键 词：全向视觉 基于场线 全场定位 

分 类 号：TP368.1[自动化与计算机技术—计算机系统结构]