基于计算机视觉原理的自主足球机器人位置规划  

Path Planning of Autonomous Soccer Robots Based on the Principle of Computer Vision

作　　者：屠运武[1] 张培仁[1] 张志坚[1] 

机构地区：[1]中国科学技术大学自动化系,安徽合肥230026

出　　处：《电路与系统学报》2004年第2期88-91,共4页Journal of Circuits and Systems

摘　　要：在计算机视觉原理的基础上,本文提出了一种求取从视平面坐标到实际坐标转换矩阵的算法。根据机器人及足球在视平面上的坐标,即可计算出其实际坐标。运用于自主足球机器人比赛中,可获取本方、对方及足球的位置和角度,为制定比赛策略提供重要的数据。Based on the principle of computer vision, this paper presents a matrix algorithm for the coordinate transformation from visual plane to geographical plane. Using this algorithm to the robot soccer match, geographical coordinates of the ball and robot players of either self team or the opponent team can be calculated from the their visual plane coordinates as to obtain the important data for making competition strategies to win the game.

关 键 词：视平面 坐标 足球机器人 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]