Soccer robot projection recognition algorithm

Abstract

The invention relates to a soccer robot projection recognition algorithm; compared with other methods, the algorithm has the advantages of less calculation amount, quick image processing speed, easy realization, and the like. The concrete realization method comprises the steps of firstly dividing the site of a competition image into a plurality of areas and searching a seed point in the video image areas, later implementing search in a target area along vertical or horizontal direction by taking the point as a starting point, and then calculating the projection value of the point, recognizing a vertex of a target (or the spherical center of a small ball) according to the projection value, and further recognizing the target; and finally extracting the position and direction of a moving target. The algorithm can be directly applied to an actual game, can quickly and accurately recognize the target, and can meet the needs of soccer robot competition systems with different functions on different application occasions.

Description

Technical field [0001] The invention belongs to the field of image processing, and specifically relates to a football robot projection recognition algorithm. Background technique [0002] The football robot competition is a World Cup event organized by the International Robot Football Federation (FIRA). It has been held annually since 1996 and has been held in many famous cities around the world, including Beijing, China. It has gradually become a high-tech industry One of the research hotspots, it has attracted attention from all over the world. The football robot system is mainly divided into hardware, sensing (vision), communication, control and host computer systems. The research hot spots are mainly football robot vision research, decision planning research, hardware platform research, communication research, etc. The video acquisition module is used to obtain video information through a capture card and a CCD camera in a Windows environment for video processing. Its m...

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Problems solved by technology

[0005] In terms of target recognition and tracking, the recognition speed of the current recognition method has always been the main factor restricting the response time of the soccer robot information processing system. Chinese patent CN200510027280.6 discloses a fast visual recognition method for a soccer robot. In the recognition process, firstly, the ball and the robot team color mark are used as the target, and the previous point of the image is used as the starting point to search in a rectangular spiral manner. After the robot team mark is found, the robot number and direction are searched centered on the team mark Color scale; the defect of this method is that sometimes the calculation time of spiral search is longer, and if there is misidentification or tracking information is lost, the search time will be doubled

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