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Research and Design of Omni-directional Vision System on Soccer Robot

Author: HuangMiao
Tutor: DengBenZai
School: Changsha University of Science and Technology
Course: Control Theory and Control Engineering
Keywords: Panoramic vision Hyperboloid mirror Image Segmentation BP neural network Image matching Self-positioning
CLC: TP242
Type: Master's thesis
Year: 2010
Downloads: 71
Quote: 2
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Abstract


Panoramic visual system compared with the traditional vision system , with a large field of view , the advantage of rich amount of information . Navigation tasks such as road signs recognition for mobile robot positioning in the environment , choose walking path provides a full range of visual information . The papers to of RoboCup medium-sized soccer robot as the experimental platform for the study and design of its panoramic vision system . Elaborate steps and methods of panoramic vision system hardware and software design , and design a field of view of up to 360 ° × 110 ° hyperboloid mirror - based panoramic vision system . Panoramic vision system hyperboloid mirror imaging principle and perspective imaging principle based on the basis of the deformation panoramic image reduction method . A scene picture can be in the level of the panoramic image will restore undeformed . Matlab programming , the deformation of the image is reduced . Image processing methods , but also a color classification method based on BP neural network . And the application of the method of visual image -based color image segmentation . Experimental results show that the method is feasible and can be applied to the the soccer robot panoramic vision system visual image processing . Finally, a white marking images based venues match soccer robot self-positioning method . The method is first necessary to establish the site model image , and then use the previously proposed image processing method for real-time image processing extracts the white flag line , and finally to match two images of the white flag line . Experiments , the results show that the method to achieve a high positioning accuracy and fast positioning speed .

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