CAJ | 학술논문

在比赛过程中类人足球机器人的视觉系统需要对足球、球门以及对阵双方机器人进行识别。考虑到算法的快速性及有效性，采用基于颜色信息的算法对球及球门进行识别，通过球及球门的颜色阈值提取图片中球与球门可能的位置，再由球与球门的背景色或面积信息确定球与球门的正确位置。对双方机器人的识别，首先提取机器人的特征，然后通过在线实时的监督学习方法训练一组级联分类器，通过训练好的分类器对双方机器人进行检测。实验表明算法能够快速有效地识别场上目标，且算法具有较好的鲁棒性。
재비새과정중류인족구궤기인적시각계통수요대족구、구문이급대진쌍방궤기인진행식별。고필도산법적쾌속성급유효성，채용기우안색신식적산법대구급구문진행식별，통과구급구문적안색역치제취도편중구여구문가능적위치，재유구여구문적배경색혹면적신식학정구여구문적정학위치。대쌍방궤기인적식별，수선제취궤기인적특정，연후통과재선실시적감독학습방법훈련일조급련분류기，통과훈련호적분류기대쌍방궤기인진행검측。실험표명산법능구쾌속유효지식별장상목표，차산법구유교호적로봉성。
During the race , the football, goal and two sides of the robot need to be recognized by the vision system of humanoid robot soccer. Considering the rapidity and effectiveness of the algorithm, the ball and the goal are identified by the algorithm based on color information. The possible positions of the ball and the goal are extracted by the color thresholds of the ball and the goal in the picture, then the correct position is determined by the background color or area information. To recognize the two sides of the robot, first the features of the robot should be extracted and then through online real-time supervision learning method a cascade classifier is trained, which is used to identify robots. Result shows that the field objects can be recognized quickly and effectively and the algorithm has better robustness.