一种稳健的足球机器人目标识别算法

视觉系统是类人足球机器人获取环境信息的主要途径。在比赛中，受场地光照等比赛环境的影响，用传统的分割识别算法难以达到满意的效果。文中提出一种结合目标颜色和形状信息的识别算法。该算法在HSI空间执行基于颜色信息的快速阀值分割，获取目标像素，并且加入了自适应阀值更新，然后利用目标像素和目标形状信息执行优化边缘检测识别目标，最终获得目标在图像中准确的位置信息。实验证明：该算法能长时间在不同光照条件下稳定获取对象在图像中的位置信息，满足实时性的要求。

Robust Target Recognition Algorithm of Soccer Robots

Vision system is the critical way to obtain environmental information for humanoid soccer robot. During the competition, because of the variable illumination conditions on the field, the Recognition algorithm using traditional segmentation is not satisfying. An object recognition algorithm, which combined target color with shape information is presented in this paper. This algorithm implements rapid image threshold segmentation based on color information in the HSI color space, obtain the pixel of the object, and joined the adaptive threshold update, then use object pixel and shape information implement optimizing edge detection to recognize the object, finally obtain the accurate target location information in the image. Experiments show that this algorithm can be a long time to obtain the target location information in the image in different illumination conditions, satisfy the requirement of the real-time.