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J4  2009, Vol. 43 Issue (11): 1975-1981    DOI: 10.3785/j.issn.1008-973X.2009.11.006
自动化技术、计算机技术     
仿人足球机器人视觉系统快速识别与精确定位
杜鑫峰,熊蓉,褚健
(浙江大学 工业控制技术国家重点实验室,先进控制研究所,浙江 杭州 310027)
Fast recognition and precise localization of humanoid soccer robot vision system
DU Xin-feng, XIONG Rong, CHU Jian
(State Key Laboratory of Industrial Control Technology, Institute of Advanced Process Control,
Zhejiang University, Hangzhou 310027, China)
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摘要:

针对仿人足球机器人视觉需求,提出一种同时进行色块分割和特征提取的目标识别算法和一种基于仿人机器人物理模型的单目定位方法.目标识别算法采用八邻域法对图像进行边缘跟踪完成色块分割,同时计算边缘点几何信息得到图形特征,并应用辐射对称算法提高物体识别准确度,其处理效率比普通方法提高近一倍.目标定位算法结合摄像机小孔成像模型和仿人机器人三连杆模型,可以精确定位视觉范围内的目标.在自主仿人足球机器人系统中的成功应用表明,所提的目标识别算法和定位模型具有较好的效果.

Abstract:

As the vision demands of humanoid soccer robot, an object recognition approach that concurrently segmenting regions and extracting features was proposed, and a monocular localization method based on the kinematic model of humanoid robot was presented. In the object recognition approach, 8-connected neighboring method was adopted to track the boundary of color region; meanwhile the features for recognition were extracted geometrically from the boundary. Then the radial symmetry detector was employed to improve the recognition accuracy. Compared to normal methods, the efficiency of this approach was doubled. The localization method combined the pin-hole camera model and three-links robot model to precisely locate the object in the field of view. The effects of the proposed methods were experimentally validated on a real humanoid soccer robot.

出版日期: 2009-11-01
:  TP 242.62  
基金资助:

国家“863”高技术研究发展计划资助项目(2007AA041603);浙江省自然科学基金资助项目(Y106414).

通讯作者: 熊蓉,女,副教授.     E-mail: rxiong@iipc.zju.edu.cn
作者简介: 杜鑫峰(1983-),男,浙江东阳人,博士生,从事仿人机器人图像处理、机器人自定位研究.
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引用本文:

杜鑫峰, 熊蓉, 褚健. 仿人足球机器人视觉系统快速识别与精确定位[J]. J4, 2009, 43(11): 1975-1981.

DU Xin-Feng, XIONG Rong, CHU Jian. Fast recognition and precise localization of humanoid soccer robot vision system. J4, 2009, 43(11): 1975-1981.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2009.11.006        http://www.zjujournals.com/eng/CN/Y2009/V43/I11/1975

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