色标设计与辨识算法研究  

Research on Designing of Color Tag and Identifying Algorithm

作　　者：胡英[1] 赵姝颖[1] 徐心和[1] 

机构地区：[1]东北大学人工智能与机器人研究所

出　　处：《中国图象图形学报（A辑）》2002年第12期1291-1295,共5页Journal of Image and Graphics

基　　金：北京大学视觉与听觉信息处理实验室开放基金 ( No.0 3 )

摘　　要：在人工智能领域 ,足球机器人系统是一个非常好的应用与研究平台 .它是一个由计算机视觉闭环的反馈控制系统 .在足球机器人视觉子系统中 ,色标的设计是关系到系统辨识精度、实时性和抗干扰性的一个重要因素 .通过对 3种典型色标设计进行比较和分析 ,确定出一种比较合理的设计方案 ,并针对这种方案提出了一种快速准确的补偿逼近算法 ,取得了良好的辨识结果 .Soccer robot system is a perfect platform in research and application of artificial intelligence. It is a feedback control system that closed loop by computer vision subsystem. In the vision subsystem, the design of color tag is an important factor which influences the identifying precision, real time performance and anti noise performance of the robot soccer system. Through comparing and analyzing three kinds of representative color tag design, a more reasonable design can be getting. It has many excellences such as steady centroid, non interference from opposite, simply identifying algorithm and less conglutination. Base on the character of the color tag, a fast and exact compensate approximate algorithm is given out. Through real test, the error is less then 1 degree even when the robot speed is more then 2m/s. This algorithm is a very important base for advance research and development on robot soccer.

关 键 词：色标设计 辩识算法 足球机器人 机器人视觉 模式识别 补偿 逼近 计算机视觉 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.[自动化与计算机技术—控制科学与工程]