A Study of Medium-sized Group of Soccer Robots Anti-jamming System
Yuhuan Pu · Journal of Changshu Institute of Technology · 2012
The vision subsystem is one of the most important parts in the football robot system.The vision subsystem mainly includes real-time,accuracy and adaptability.This paper completes the anti-interference processing mainly from three aspects.The First is light interference.The paper uses a color extract algorithm which combines RGB color space and HSI color space.Using RGB color model to collect image,it is transformed into HSI color model immediately.The HSI color model is not sensitive to light,so it can be used for color calibration.The second is the color impurity.Based on the HSI color model,the picture is dealt with to eliminate the noise by erosion and dilation.The authors of this paper select the most appropriate spatial color model conversion to reduce impurities interference effects.The third is some color interference surrounding the match field.Some solutions have been reached in this paper.According to the actual environment,the best one is selected to eliminate environmental interference.The actual running tests show the effectiveness of the image process method.