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The Research on the Vision System of the Autonomous Robot Soccer
Author: ZouKui
Tutor: LiZhiYang
School: Central China Normal University
Course: Circuits and Systems
Keywords: Autonomous Robot Soccer DSP Moving target detection Robot Vision
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 136
Quote: 1
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Abstract
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The robot soccer game is a popular international high-tech contest , it combines the key technologies of the information technology , automation , communications , mechatronics and artificial intelligence , and provide a good experimental test for theoretical research in related fields platform. Autonomous robot soccer competition is the most difficult in the robot soccer matches , the most challenging issue . The vision system is a very important part of the autonomous robot soccer system . Through its main task of the real-time acquisition game scene image analysis and processing, to obtain the target object information , and provide that information to the decision-making system for analysis , decision-making . In this thesis, the visual system of autonomous robot soccer moving target detection and localization , to build a soccer robot vision system hardware platform processor based on DaVinci DM6437 using CCS and DSP / BIOS written autonomous soccer robot vision system device drivers and image analysis software , to complete a real-time image acquisition and pre - processing , and based on the background subtraction method , frame difference method , edge detection and color detection experiment of moving target detection algorithm is proposed a frame-based difference and edge detection combined the mixed target detection algorithm , both to ensure the speed requirements of target detection , better detection effect . Final establishment of a single camera , the camera model , extract the centroid of the target , the positioning of the robot soccer goal . Experimental results show that this thesis, the proposed algorithm can the complete moving target detection and positioning hardware system uses an embedded structure , laid the foundation for building a complete autonomous robot soccer .
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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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