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The panoramic visual Soccer Robot targeting system

Author: WuNa
Tutor: LiXiaoJian
School: North China University of
Course: Detection Technology and Automation
Keywords: Robocup robot soccer Panoramic vision Mean Shift Algorithm Kalman filter
CLC: TP242
Type: Master's thesis
Year: 2010
Downloads: 129
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Abstract


Robot soccer competition for panoramic visual targeting system is critical , it is the foundation and basis for decision-making by the autonomous movement and behavior . The research covered many areas of the system , and therefore requires a strong engineering background , one subject has important research value . The thesis Borch Voyager-Ⅱ autonomous soccer robots as a research and development platform , autonomous soccer robot based on Mean Shift algorithm target tracking and positioning system . First of all, on the basis of the rules of the game introduced Robocup robot , the robot panoramic collected images were studied , including how the image preprocessing, erosion and dilation collected images to obtain the best target detection effect . Secondly , in terms of the research moving target detection , explore the processing of the image , by comparing the pros and cons of RGB, YUV , and HSI research method of the target image , and given the specific conversion formula , which for the robot panoramic camera collected RGB image is converted to the HSI images provide the basis for strong adaptability to changes in light . Third , study and detailed study of the Mean Shift algorithm , based on the the orange football real-time tracking of the process of discovery of the defect , which is proposed adaptive tracking window width to improve tracking accuracy , and improved algorithm combined Kalman filter to solve occlusion to realize tracking, in order to improve the accuracy of target tracking . Finally , there is a summary of the thesis work , the Mean Shift algorithm combined with Kalman filter in the the soccer robot panoramic visual pending further study .

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