機(jī)器足球視覺系統(tǒng)中的實(shí)時(shí)圖像處理

視覺系統(tǒng)是整個(gè)機(jī)器人足球系統(tǒng)的重要組成部分。根據(jù)機(jī)器人足球視覺系統(tǒng)的特點(diǎn)，提出基于游程長(zhǎng)度編碼（RLE）的實(shí)時(shí)快速圖像處理算法。算法使用RLE 對(duì)圖像進(jìn)行縮，并且在處理階段高效識(shí)別出圖像中目標(biāo)的尺寸和位置。壓縮階段算法的時(shí)間復(fù)雜度與
圖像尺寸成線性關(guān)系，圖像處理階段算法的時(shí)間復(fù)雜度與圖像中目標(biāo)的個(gè)數(shù)和每個(gè)目標(biāo)所占的掃描行數(shù)成線性關(guān)系。
關(guān)鍵詞： 機(jī)器人足球視覺系統(tǒng)；實(shí)時(shí)圖像處理；壓縮圖像處理
An algorithm for real-time image processing in the robot soccer vision system HE Xin , LIU Lizhu (Dept. Signal Analysis engineering of PLA Information Engineering University, Zhengzhou, 450002) [Abstract] Vision system is an important part of the whole robot soccer system. Based on the characteristics of the robot soccer vision system, an algorithm using Run Length Encoding (RLE) for real-time image processing is presented. RLE compresses the image and allows the processing algorithm to efficiently identify the size and position of the objects in the image. It is shown that the time complexity of the compression phase is linear with the size of the image while the image processing phase is linear with the number of objects in the image and the number of lines occupied by the objects in the image.
[Key words] robot soccer vision system; real-time image processing; compressed image
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