CAJ | 학술논문

对于仿人足球机器人来说，视觉功能是极其重要的。在足球机器人的各种关键技术中，机器视觉是应用范围最广，最为基本的技术之一。移动机器人视觉的研究主要集中在颜色模型建立、目标识别、定位以及跟踪等方面。仿人机器人视觉系统的识别与定位算法也是目前的研究热点，目标的实时识别与定位是足球机器人在足球赛中精确踢球的前提。文章主要是针对目前足球机器人在视觉系统上所存在的问题进行了颜色模型建立及目标定位算法的改进，加入了目标追踪算法，确保目标识别与定位的准确。在iKid足球机器人上进行试验并调试，试验结果具有较好的实时性和准确性。
대우방인족구궤기인래설，시각공능시겁기중요적。재족구궤기인적각충관건기술중，궤기시각시응용범위최엄，최위기본적기술지일。이동궤기인시각적연구주요집중재안색모형건립、목표식별、정위이급근종등방면。방인궤기인시각계통적식별여정위산법야시목전적연구열점，목표적실시식별여정위시족구궤기인재족구새중정학척구적전제。문장주요시침대목전족구궤기인재시각계통상소존재적문제진행료안색모형건립급목표정위산법적개진，가입료목표추종산법，학보목표식별여정위적준학。재iKid족구궤기인상진행시험병조시，시험결과구유교호적실시성화준학성。
For the soccer robot, visual function is very important. In the various key technologies of soccer robot, machine vision is the most widely used and is one of the most basic technologies. The research on mobile robot vision is mainly based on the establishment of color model, target recognition, positioning and tracking, etc. The identification and localization algorithms of humanoid robot vision system are also hot topics now, the real time recognition and localization of the targets is a prerequisite for soccer robot to accurately play in the soccer game. This article is mainly targeted at the problems existed in the soccer robot vision system, to carry out the establishment of color model and the improvement of localization algorithm, and introduces the target tracking algorithm to ensure the accuracy of target recognition and location algorithm. The tests are conducted in the iKid soccer robot, the results show a better real-time performance and exactness.