Study On Robocup Small Size Soccer Robot Vision System

Robot Soccer Competition, which is a basic research topic in both Artificial Intelligenceand Robot fields, is a technological competition that has developed rapidly in recent years.As a basic research topic, it is a challenging high technology project and meanwhile, it is alsothe ideal breakthrough point of Multi-agent technology. It involves many related areasincluding Robots, Precision Machinery, Automatic Control, Computer Vision and ImageProcessing, Multi-agent Coordination, Image Fusion and so on.. Hence, Robot SoccerCompetition is a standard platform for researching Multi-agent Technology, IntelligentControl, Computer Vision and so on. The research has a profound significance in theory andapplication.This paper takes the Small-sized Soccer Robot Competition as the research platform tostudy the Vision Subsystem which is the eyes of the Robot. Vision subsystem is the mainchannel of Intelligent Soccer Robot acquiring the outside information and is also the researchbasics of the overall system. The main functions of Vision subsystem are: to continuouslyget the information of venues through camera, then to process the acquired images includingdenoise and enhancement, target segmentation, target recognition and tracking and so on,and finally, to transmit the final data that is processed to Decision Subsystem. As the eyes ofRobot, Vision Subsystem needs strong real-time performance in high-speed competition andit has a decisive role to the competition results. This paper mainly discusses the VisionSubsystem of Soccer Robot, the follows are mainly included:(1) In the part of camera calibration, the calibration method of zhengyou Zhang basedon OpenCV is adopted and a better result has been got.(2) In the part of image segmentation, to obtain the threshold of different color throughsampling a variety of colors before the first game. In the case of stable light source, a betterimage segmentation result has been got.(3) According to color design basis and existing technology, a set of color logos ofSoccer Robot are designed which are simple and easy to identify.(4) The position, direction and numbers of intelligence robot, the position of soccer andso on are recognized in target recognition.