一种NAO机器人的白线识别方法

摘要

NAO机器人最主要通过图像来感知外界,与其它机器人有别的是NAO白色的外壳增加了球场上白线识别的难度.本文提出在图像预处理的基础上的识别方法,以白色边缘的导数为零的点和不可导点为分割点,将白色边缘分段,再根据每段的属性,综合分析后给出识别结果.实验结果表明,此方法在外界环境光线变化不大的情况下,能有效识别球场上的白线,满足了NAO机器人比赛中对图像识别的实时性和鲁棒性的要求.%NAO perceived the outside world by images,NAO white shell increased the difficulty of white line recognition,this is different from other robot.A method based on image preprocessing is presented,sorting white edge with cut-point which is non-differential or derivative is zero,then the results appear after analyzing properties of the subclass.The experiment results show that this method is effective when ambient light change is litte,it meets the requirement of real-time and robutness for NAO robot.