不稳定光照条件下多机器人的视觉系统设计

上海大学学报(自然科学版) ›› 2010, Vol. 16 ›› Issue (3): 306-311.

不稳定光照条件下多机器人的视觉系统设计

贺祥，袁健，许华虎，何永义，王亚红

（1.上海大学计算机工程与科学学院，上海 200072； 2.上海大学机电工程与自动化学院，上海 200072）

出版日期:2010-06-28 发布日期:2010-06-28

Design of Vision System for Multi-Robots under Varying Lighting Condition

HE Xiang,YUAN Jian,XU Hua-hu,HE Yong-yi,WANG Ya-hong

(1. School of Computer Engineering and Science, Shanghai University, Shanghai 200072, China；
2. School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China)

Online:2010-06-28 Published:2010-06-28

摘要/Abstract

摘要：

视觉系统是机器人系统感知外界环境的主要传感器.为了提高系统在不稳定光照条件下的识别准确率和定位精度，提出新的色标设计和根据当前颜色阈值可信度来确定颜色阈值的方法，同时采用数字图像形态学的理论对识别结果进行优化.最后，在“家庭生活支援多机器人系统”中得到了验证.

关键词: 机器视觉;阈值;图像形态学;视觉子系统

Abstract:

A robot collects environment information mainly by its vision system. In order to improve recognition accuracy and positioning precision under variable lighting conditions, this paper describes a new pattern design and proposes a method to adjust the color threshold according to the credibility of current color threshold. Image morphology is used to optimize the recognition results. The vision system is tested in the project Family Life Support MultiRobot Systems.

Key words: machine vision; threshold; image morphology; vision system

贺祥，袁健，许华虎，何永义，王亚红. 不稳定光照条件下多机器人的视觉系统设计[J]. 上海大学学报(自然科学版), 2010, 16(3): 306-311.

HE Xiang,YUAN Jian,XU Hua-hu,HE Yong-yi,WANG Ya-hong. Design of Vision System for Multi-Robots under Varying Lighting Condition[J]. Journal of Shanghai University（Natural Science Edition）, 2010, 16(3): 306-311.