摘要
为了在机器人足球比赛中能够快速准确地跟踪运动目标,提出了一种颜色识别与头部视觉跟踪相结合的方法.利用HSV色彩空间颜色阈值的判别和种子点区域生长的填充算法识别物体,计算物体质心并判断其位置,然后通过舵机控制机器人头部的转动跟踪目标.实验结果表明,该方法具有较高的跟踪速度与准确性.
To track moving object fleetly and exactly in robot soccer, a new method for color identification combined with heads vision tracking is presented. The method of color threshold in HSV color space and the filling algorithm about seeds growing in point region, can be used identify the object, calculate the centroid of the object and judge its position. Then, the target,can be tracked by turning robot＇s head controlled by digital servo. The high speed and accuracy is proved by experiments.
出处
《江南大学学报（自然科学版）》
CAS
2008年第4期463-466,共4页
Joural of Jiangnan University (Natural Science Edition)
关键词
类人足球机器人
目标识别
视觉跟踪
humanoid soccer robot
object recognition
vision tracking
