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一种鲁棒性足球机器人视觉系统的研究方法.docx

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一种鲁棒性足球机器人视觉系统的研究方法 Abstract Footballrobotshavebecomeincreasinglypopularinrecentyears.Asanimportantcomponentoffootballrobots,thevisionsystemplaysacriticalroleinaccuratelydetectingandtrackingtheballandotherplayers.However,thevisionsystemisoftensubjectedtovariousdisturbances,suchasdifferentlightingconditions,occlusions,anddynamicbackgrounds,whichposesanenormouschallengefortherobustnessofthesystem.Inthispaper,weexplorearesearchmethodforarobustfootballrobotvisionsystemthatcaneffectivelyhandlethesedisturbances. Introduction Footballrobotsofferachallengingandexcitingtaskforresearcherstodevelopintelligentsystemsthatcanoutperformhumanplayers.Thevisionsystem,asoneofthekeycomponentsoftheserobots,isresponsibleforaccuratelydetectingtheballandotherplayers,trackingtheirmovements,andmakingstrategicdecisionsbasedontheobservedinformation.However,achievingrobustnessinthevisionsystemisaformidablechallengeduetothevariousdisturbancesthatcouldoccurduringagame.Theseincludechangesinlightingconditions,occlusionsduetootherplayersorobstacles,anddynamicbackgrounds. Inthispaper,weproposearesearchmethodforarobustfootballrobotvisionsystemthatiscapableofhandlingthesedisturbances.Wewillfirstdiscussthechallengesindesigningarobustvisionsystem,followedbytheproposedmethodology,andfinally,theexperimentalresults. Challenges Thevisionsystemofafootballrobotshouldbeabletodetecttheballandotherplayersinreal-timewhileconstantlyadjustingtosuddenchangesintheenvironment.Thisrequiresthesystemtoberobusttodifferentlightingconditions,suchassunlight,indoorlighting,andartificialillumination,whichcansignificantlyaffectimagequality.Moreover,duetothedynamicnatureofthegame,occlusionscanoccuratanytime,whichcancausethevisionsystemtolosetrackofobjectsofinterest.Finally,thebackgroundofafootballfieldisalwayschanging,whichmakesitdifficulttoaccuratelytrackanddetectobjectsovertime. Methodology Inourproposedmethod,wefirstpre-processtheimagestakenbytherobotcameratoimprovetheimagequality.Thisisachievedthroughacombinationofcolorcorrec