Real-Time Vision Sytem for Small Size League Robot Soccer

• Main Authors: Wei-Sung Huang, 黃偉菘
• Other Authors: Huei-Yung Lin
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/06734633042139108569

碩士 === 國立中正大學 === 電機工程研究所 === 92 === RoboCup is a game for small sized robots to complete against other teams in a game of soccer. In the small size league, the movement of the robots are managed by the strategy of the robot soccer system. Real-time visual information provided by the cameras and dynamic image analysis are usually required for the strategy system to make a decision on the movement of the robots. The goal of this work is to to develop a real-time vision system for the small size robot league. Developing such system requires high quality input images, robust and fast running functions, and careful memory allocation. In this work, a digital video camera with IEEE 1394 interface is used for image acquisition, instead of analog data transmission with frame grabber, to ensure the quality and reliability of the image data. Robust object identification and tracking algorithms are implemented in HSV color space. The video camera is also calibrated to reduce the radial distortion caused by wide-lens imaging. Experimental results have shown that our real-time vision system is able to provide accurate and stable tracking of multiple objects at the frame rate of 30 fps.