中型组足球机器人场地标定系统的研究

摘要

场地标定关系到机器人在场地中的正常运作。本文研究了中型组足球机器人的场地标定系统，应用基于颜色的阈值分割法，对采集的图像通过阈值分割来确定 HSI 图像中场上信息的颜色阈值，实现了对绿色场地、橙色足球、白色标志线、黑色障碍物的标定。实际运行达到预期效果，证明了该方法的有效性。%　　This paper studies the medium-sized soccer robot field calibration system, which is of great impor⁃tance to the robot’s normal operation in the field site. Based on the color threshold segmentation method, the field information of the color threshold in HSI images is determined by means of images collected by threshold segmentation so as to achieve the green field, orange football, white marking, and black football flag line obsta⁃cle calibration. The actual operation achieves the desired result, and proves that the method is effective.