| 基于全景与前向视觉的足球机器人定位方法研究 |
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| 引用本文： | 杨鹏,高晶,刘作军,万文献.基于全景与前向视觉的足球机器人定位方法研究[J].控制与决策,2008,23(1):75-78. |
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| 作者姓名： | 杨鹏 高晶 刘作军 万文献 |
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| 作者单位： | 河北工业大学,电气与自动化学院,天津,300130 |
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| 摘 要： | 针对足球机器人比赛中要求快速准确获取目标位置信息的特点,设计了由全景视觉和前向视觉共同构建而成的机器人视觉系统.对于单一视觉传感器,采用图像坐标系转换求反正切法、分段比例法及针孔摄像机成像模型的方法,以blob面积为优选条件选择定位方式,从而得到精度较高的定位结果.实验结果证明了该视觉系统设计的合理性及定位方法的有效性.
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| 关 键 词： | 全景视觉 前向视觉 定位 分段比例法 小孔成像模型 |
| 文章编号： | 1001-0920（2008）01-0075-04 |
| 收稿时间： | 2006-09-23 |
| 修稿时间： | 2006-12-11 |
Localization for robot soccer based on omni-vision and front-vision |
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| YANG Peng,GAO Jing,LIU Zuo-jun,WAN Wen-xian.Localization for robot soccer based on omni-vision and front-vision[J].Control and Decision,2008,23(1):75-78. |
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| Authors: | YANG Peng GAO Jing LIU Zuo-jun WAN Wen-xian |
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| Affiliation: | YANG Peng,GAO Jing,LIU Zuo-jun,WAN Wen-xian(School of Electrical Engineering , Automation,Hebei University of Technology,Tianjin 300130,China.) |
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| Abstract: | To meet the requirement for obtaining positional information of objects quickly and precisely, a vision system based on omni-vision and front-vision is designed. For the single vision sensor, the method of transforming image reference frame and extracting arc tangent and the method of separate proportion and pinhole imaging model of camera are adopted. For getting more precise localization result, the excellent mode of localization is chosen according to the area of blob. The experimental results show the rationality of the vision system and the effectiveness of the proposed localization method. |
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| Keywords: | Omni-vision Front-vision Localization Means of separately proportion Pinhole imaging model |
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