一种基于颜色信息的足球机器人目标搜索方法

针对实际比赛中足球机器人视觉系统不能快速、准确地搜索到目标物体的问题,分析了RGB空间模型的优缺点以及基于彩色HSI变换原理,结合足球机器人的实际情况采用了一种从RGB空间到HIS空间快速变换的方法对颜色信息进行处理.同时,通过分析以往的目标搜索方法的优缺点,提出了一种基于颜色索引表的顺序网格法和种子填充法相结合的目标搜索方法,并在足球机器人视觉系统中进行了实验.实验结果表明这种方法既在一定的程度上降低了噪声干扰的影响,又避免了逐个像素计算颜色值,大大降低了计算量,从而提高了系统的实时性和可靠性.

An Objects Identification Method for Micro Soccer Robot Based on Color Information

Because the vision system of the soccer robot cannot find the moving object rapidly and correctly in practice,according to the characteristics of the soccer robot,the relative merits of RGB space model are analyzed, the method of transform from the RGB color model to the HIS color model is used for processing the color information. Furthermore,a new search method is used,in which ordinal girding and seed filling based on color information are applied simultaneously,and this method is used in the experiment of the soccer robot system.Experiments show that the new method reduces not only the noise interference but also the amount of calculation,can considerably enhance the speed and precision of image processing of the vision system of micro soccer robot.