Research On The Vision System For MisoSot Robot Soccer

Robot soccer match is a kind of high technology match which has arisen around the world in recent years. With the development of robotic technique, it has become one of the hot focuses in this field. It combines the technique from information, automation, communication and AI, and provides a platform to test all these skills.Vision system is a vital part of the soccer-robot system; it is the "eye" of overall system. All the information that the strategy system can get, comes from the vision system uniquely. The assignment of vision system is to grab the primal image of ground, then analyze, dispose and identify the image, accordingly get the motion state information of objects (ball and both robots). Finally it supplies strategy system with all the information, used to command the robots.The work is based on the MiroSot soccer-robot's vision system, constructed the hardware flat of the MiroSot soccer-robot system. Developed the soccer-robot's control system used VC, and achieved a real-time digital image acquisition and enhanced. By the color image segmentation algorithm, divided the soccer-robot and ball from the background. Identified different soccer-robot by different color tag. Put forward second-search algorithms and adaptive algorithms for the optimization of the algorithm.Practices demonstrate the image dispose algorithm can identify the objects commendably, supply strategy system with plenteous information; can be used in to the actual combat, meanwhile set up a platform for upper research.