Calibrating method for centralized vision system of soccer robot

Abstract

The invention relates to the technical field of computer vision detection, in particular to a calibrating method for a centralized vision system of a soccer robot; the calibrating method comprises the following steps of: using a system site as a calibrating template, using certain mark points on the site as calibrating reference points, and obtaining pixel coordinates and world coordinates of the calibrating reference points; establishing an imaging model of the camera according to the characteristics of the centralized vision system of the soccer robot, respectively obtaining the internal and external parameters of the camera by using the pixel coordinates and world coordinates of the calibrating reference points and optimizing the related parameters; and by using the internal and external parameters of the camera, establishing pixel coordinates of an original site image to conversion modules of the world coordinates to which planes corresponds, wherein target bodies with different heights are arranged in the planes. The calibrating method belongs to the field of computer vision detection and can be used for calibrating the camera with a vision detection system similar to the centralized vision system of the soccer robot; and the calibrating method is simple, easy to use and higher in accuracy without needing other auxiliary calibrating devices.

Description

technical field [0001] The invention relates to the technical field of computer vision detection, in particular to a method for calibrating a vision system of a centralized control football robot. Background technique [0002] Robot football was first proposed by Alan Mackworth, a professor at the University of British Columbia in Canada, at an international artificial intelligence conference in 1992. In his paper "On Seeing Robots", he proposed the concept of a robot with vision and decision-making capabilities chasing football. The robot soccer game provides a landmark and challenging subject for the development of artificial intelligence and intelligent robotics. Once this idea was put forward, it has been widely approved and actively responded by scientists from all over the world. Many famous research institutions and organizations in the world have begun to carry out research, put it into practice and continuously promote its development. [0003] Later, at the sympos...

AI Technical Summary

Problems solved by technology

[0025] From the principles of the above correction methods, we can see that they all have a common feature, that is, use an approximate mathematical model to establish the corresponding relationship between the image coordinates before and after the distortion, and ignore the imaging model of the camera itself, so they cannot complete the distortion of the image well. Correction

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