Object fitting and extraction algorithm for soccer robot based up panoramic image under un-ideal illumination condition
Yang Xue-dong · Journal of Chinese Inertial Technology · 2013
The ellipse fitting and extraction algorithm of a soccer based on panoramic image was studied by taking Voyager-III mobile robot as the study object.The available random Hough transformation(RHT) and non-linear least squares are compared,and their fitting results of 1/2 1/4 ellipses are researched when without noise effects or with isolated points,and their computation complexity and real-time performance were evaluated.The Markowitz portfolio model was proposed to realize the feature extraction of the target soccer under un-ideal illumination condition,which helps to enhance the differences between the boundaries of target and background,making the edge of the target more clear.These primary steps could help to remove the noises in the subsequent ellipse fitting and extraction for coping with the roundness distortion under the panoramic camera.The experiments demonstrate that,the fitting scheme is testified to be an accurate one with strong robustness,which adapts to the practical applications of the soccer robots’ matches.