基于camshift算法的足球机器人目标跟踪算法研究-计算机应用技术专业论文.docxVIP

Research Research on 0bj ect Tracking Algorithm for Football Robots Based on CamShift Algorithm ABSTRACT Vision system iS an important way for football-robots to obtain information，as the basic supporting system，it provides location information of the targets for football-robots， real．time location information helps robots better decide their strategy and direction．111is dissertation introduces most of the concepts of comuputer vision field such as image acquiring，color image preprocessing，color image dividing，object identifying and tracking· First we introduce some common methods for object detection，such as temporal difference，background subtraction and algorithms based on background model，then we come to Hough circle shape objects detection,also we introduce the MeanShift and CamShifl algorithm． 刀招existing CamShifl algorithm Can detect and track specified color objects continously，but when applied on football-robots directly，problems such as low efficiency in matching and mismatch arise．Based on the football—robot made by Orandar Co．Ltd，we improved the CamShift algorithm． After adding target location prediction, contour-matching，robots motion-control and enlarging searching window,the new algorithm can overcome enviroment color noise and has better robustness． Keywords：Moving Object Tracking；CamShifl Algorithm；Football-Robots； 插图清单图2．1 插图清单 图2．1 HSV色彩模型 O O 7 图2．2灰度直方图示意图mOO Q OOO 8 图2．3(a)原始图像 000 O 9 图2．3(b)原始图像的直方图e o 9 图2．3(c)二值化后的灰度图像 9 图3．1(a)第K帧图像 18 图3．1(b)第K+I帧 O oI OOBI·g 18 图3．1(C)帧间差分后图像 18 图3．2(a)第n帧图像 O g O O 18 图3．2(b)光照变化后第n+l帧 o e 18 图3．2(C)帧间差分后图像 18 图3．3直线的(p，口)表示 24 图3．4图的霍夫变换原理 25 图4．1 MeanShift示意图 g OO 30 图4．2 MeanShift算法示意图 31 图4．3 Camshift算法流程 ·gO O 33 图5．1(a)目标在视野中g O O 00 39 图5．1(b)目标即将离开视野 O g 39 图5．1(c)目标离开视野 39 图5．1(d)目标回到视野中 39 独创性声明本人声明所呈交的学位论文是本人在导师指导下进行的研究工作及取得的研究 独创性声明 本人声明所呈交的学位论文是本人在导师指导下进行的研究工作及取得的研究 成果。据我所知，除了文中特别加以标志和致谢的地方外，论文中不包含其他人已经 发表或撰写过的研究成果，也不包含为获得金壁王些太堂 或其他教育机构的学 位或证书而使用过的材料。与我一同工作的同志对本研究所做的任何贡献均已在论文 中作了明确的说明并表示谢意。