基于单目视觉的足球机器人图像处理系统的畸变矫正研究  

Research on Distortion Correction of Soccer Robot Image Processing System Based on Monocular Vision

作　　者：林金珠 马春燕 倪天伟 LIN Jin-zhu;MA Chun-yan;NI Tian-wei(Department of Electronics and Information Engineering, Hohai University Wentian College, Maanshan, 243031, Anhui)

机构地区：[1]河海大学文天学院电气信息工程系,安徽马鞍山243031

出　　处：《蚌埠学院学报》2018年第5期50-52,62,共4页Journal of Bengbu University

基　　金：安徽省重大教学改革研究项目(2016JYXM0907);河海大学文天学院自然科学研究项目(WT15001)

摘　　要：在FIRA MiroSot足球机器人系统中,足球机器人图像处理系统通过视频采集设备捕获有效图像信息并处理,为决策系统提供重要信息来源。通常情况下高速摄像头实时采集比赛场中的图像,存在采集图像速率低、畸变矫正效果不够明显等问题。因此提出了基于单目视觉的足球机器人图像处理系统的畸变矫正方法,即通过两步法进行摄像头标定修正,用最小二乘法计算出畸变系数拟合误差。实验证明,该方法有效提高了系统的整体性能。The soccer robot image processing system captured the eft）ctive image information through the video capture device and processed it,which provided important information sources for the decision-mak- ing system. Usually, when the high-speed camera collected the images in the competition field in real time, there were some problems such as low image acquisition rate, distortion con＇ection eft^ct was not ob- vious. It presented a distortion correction method of soccer robot image processing system based on monoc- ular vision in this paper. The camera calibration was corrected by two steps, and the distortion coefficient was calculated by the least square method, fitting the error. The experimental results showed that the method can effectivery improve the overall performance of the system.

关 键 词：足球机器人 单目视觉 图像处理 畸变矫正 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]