CAJ | 학술논문

根据RoboCup中NAO机器人足球比赛的规则，机器人通过对颜色的识别来识别球场上的物体及环境。文章分析了RGB颜色空间的优缺点，采用HSV作为视觉系统的颜色空间，减弱了现场光照变化对视觉系统产生的影响。文章提出了一种基于HSV色彩空间下识别红球的方法，然后提出一种简单的追踪红球策略，与测距追踪实际效果相比较，发现这种追踪策略更符合实际场景应用。
근거RoboCup중NAO궤기인족구비새적규칙，궤기인통과대안색적식별래식별구장상적물체급배경。문장분석료RGB안색공간적우결점，채용HSV작위시각계통적안색공간，감약료현장광조변화대시각계통산생적영향。문장제출료일충기우HSV색채공간하식별홍구적방법，연후제출일충간단적추종홍구책략，여측거추종실제효과상비교，발현저충추종책략경부합실제장경응용。
According to the rules of the NAO robot football match in RoboCup,the vision system of the Nao identify everthing through colors.This paper analyzes the advantages and disadvantages of RGB color space,adopts the HSV color space as NAO vi-sion system which weakens the impact on vision system caused by the changes of the filed illumination. A simple strategy to iden-tify red ball based on HSV color space is proposed,then puts forward a simple ball finding strategy,which is more suitable in actual scene application compared with the range distance finding strategy.