全自主足球机器人混合视觉系统的设计与实现

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张学习, 杨宜民, 刘润丹, 刘汝宁. 全自主足球机器人混合视觉系统的设计与实现[J]. 机器人, 2010, 32(3): 375-383.. ZHANG Xuexi, YANG Yimin, LIU Rundan, LIU Runing. Design and Realization of the Hybrid Vision System for Autonomous Soccer Robot. ROBOT, 2010, 32(3): 375-383..

摘要根据中型组机器人足球比赛的需要，设计并实现了一套由全向视觉、前向单目视觉和嵌入式视觉构成的混合视觉系统．全向视觉具有360°；的水平视角，信息量大、实时性好，但近端信息的感知识别精度较低，前向单目视觉和嵌入式视觉就是为了解决该问题而加入的．前向单目视觉主要用于识别位于机器人正面不远处的目标，且可给出精确的目标位置信息，同时全向视觉和前向单目视觉的处理都是在机器人上位机上进行的．为了解决机器人非前向近端信息缺失的问题，在不增加上位机负担的情况下，本文通过下位机的嵌入式视觉识别机器人周边非前向近端的动态目标或障碍物，较好地解决了机器人360°范围内近端信息的获取问题．实验结果表明，该视觉系统较好地实现了对机器人远端、近端目标的识别．

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关键词 ：混合视觉系统, 足球机器人, 目标识别, 视觉标定

Abstract：A hybrid vision system is designed and implemented according to the need of middle-size league in RoboCup,which is composed of omni-vision,monocular front vision and embedded vision.Omni-vision is of 360° horizontal view angle,large information capacity and good real-time performance,but it can’t get the precise nearby image information,for which monocular front vision and embedded vision are introduced.Monocular front vision is mainly used to identify the front object not far away,and it can get specific location information.And the monocular front vision and omni-vision are both processed on upper computer of the robot.To get the nearby image information not in front of robot and not to increase upper computer’s burden,this paper uses embedded vision in lower computer to identify the dynamic objects or barriers that are near the robot and not in front of it,and solves the problem of getting nearby image information within a range of 360°.Experiment results show that this vision system can successfully identify distant and nearby objects.

Key words： hybrid vision system soccer robot object identification vision calibration

收稿日期: 2009-05-31 录用日期: 2010-01-13

TP24

通讯作者: 张学习 E-mail: zxxnet_2@163.com

作者简介: 张学习(1978- )，男，博士，副教授．研究领域：智能控制和信息处理技术．
杨宜民(1945- )，男，教授，博士生导师．研究领域：智能控制和人工智能．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I3/375

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