在不稳定光照条件下足球机器人视觉系统的设计

视觉系统是RoboCupF180小型组足球机器人系统感知外界环境的主要传感器，为了提高它的实时性、精确性和鲁棒性，提出了新的色标设计，根据历史信息来确定当前信息的可信度．用Tsai的方法对摄像机进行了标定和畸变矫正．提高了在不稳定的光照条件下的识别率以及机器人和球的定位精度．在实际比赛中验证了这个视觉子系统．

Design of a Vision System for RoboCup Soccer Team under Varying Lighting Condition

The vision system is the main sensor of RoboCupF180 small size soccer robot system,which is used to collect information from the environment.In order to improve the real-time performance,accuracy and robustness of this vision subsystem,this paper describes a new pattern design,and the reliability of current information is calculated from the previous information.The Tsai's method is used to calibrate the camera and its distortion,which improves the recognition rate under variable lighting condition and increases the positioning accuracy of the robots and the ball.The vision sub-system is tested in the real competition.