The Research Of Soccer Robot Vsion Platform And Algorithm

Vision system is vital for football robot system. It is responsible for sensing the environment and identifying all the useful information from it.In this paper, a deep and detail research has been done to analyze the vision system. It discusses the feature of color, color model, image segment principle and method, and then analyzes the demands and characters of robot soccer vision system. An adaptive RGB threshold value color image segment segmentation method is presented, and it realize a real-time, veracity, adaptability and intelligent chromatic image recognition. To improve visual tracing precision and environment adaptability, it presents a method of soccer robot visual tracing based on action-vision coordination. The method validates the coherence of target action and command by vision. It can keep uninterrupted tracing in visual blind area, and correct the target tracing error. In order to improve the positioning precision, it analyzes the image distortion in vision subsystem, and a simple distorted image rectification method is provided.