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Research of Illumination Invariant Color Image in Soccer Robots

Author: ChenZuo
Tutor: ZuoXin
School: Ocean University of China
Course: Applied Computer Technology
Keywords: Soccer Robots Illumination invariant Color model Order forward feature selection Genetic Algorithms
CLC: TP242
Type: PhD thesis
Year: 2011
Downloads: 102
Quote: 1
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Abstract


Robot soccer competition for the development of the intelligent robot disciplines and artificial intelligence and other disciplines to provide an iconic and challenging subject, multidisciplinary involved in communications, electronics, sensors, mechanical, and image processing technology. Soccer robot can generally be divided into as a complex multi-agent system, the decision subsystem, communication subsystem, trolley subsystem, visual subsystem four parts. Soccer Robot Vision system for target recognition accuracy and real-time, will directly determine the positioning of the soccer robot target, path planning, as well as the ability to cooperate with each other to complete the task. The robot soccer venues is a standard color structured environment, wherein each object has a particular color. Therefore, with respect to the shape of the image, frequency domain and statistical characteristics, color feature is more conducive to the soccer robot to identify the target, is the main way. However, the color of the object in the case of the illumination change, easy to form a large difference in color appearance, which seriously affects the effectiveness of the target recognition. Light problem became one of the important issues that affect the soccer robot target recognition. The main purpose of this paper is to identify the color model of the robot soccer goals through research to improve and reduce light changes color to identify the impact of soccer robot. In this paper, the light color images processing method to carry out studies to determine the focus dichromatic reflection model. Suboptimal feature selection and optimal feature selection method, and determined to focus on objects to order forward feature selection and genetic algorithms. The collection of various lighting the same color model and the component of the illumination change is not sensitive to the color component of the color component contains 11. On this basis, the research work of this paper are as follows: 1) the order of the visual image of the soccer robot to choose the color characteristic component, the establishment of a soccer robot to light the same color model. Color model for the semi-autonomous robot soccer {uSb}; Autonomous Robot Soccer the color models {Syc2}. Carry out experimental studies to prove that the recognition rate of the two models of the target color is superior to the traditional model of color. 2) a the football robot vision image color characteristics of genetic algorithm component selection method, the establishment of a soccer robot to light the same color model. Color model for the semi-autonomous robot soccer {rSc2}; Autonomous Robot Soccer the color models {yc2c3}. Carry out experimental studies to prove that the recognition rate of the two models of the target color is superior to the traditional model of color. 3) a suitable genetic algorithm running in soccer robot color model parameters. The study of the use of genetic algorithms to extract the soccer robot to light the same color model, the relationship of the four operating parameters for model selection. 4) genetic algorithm running parameter ranges suitable for soccer robot color model, and summarizes the specific method of determining the operating parameters, with the reference value for the application of genetic algorithms in other areas. The new four-color model with respect to the traditional model, were done to identify the effectiveness of comparative experiments study. Experimental results show that the proposed new color model on the color recognition rate than the traditional model.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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