Abstract: In FIRA MiroSot robot-soccer game,vision system was a unique way throught which the whole system obtained the global information. The speed and precision of the recognition of the vision system directly affected the victory or defeat of the game. According to the disadvantage of the traditional vision system in the robot-soccer game, a new design of robot-soccer vision system was put forward based on multi-resolution analyse and FCM algorithm. Experiment results show that the design can improve the speed and precise of recognition in the game,and has well adaptability.

Key words: machine-vision, robot-soccer, wavelet, FCM

摘要： FIRAMiroSot机器人足球比赛中,视觉系统是比赛系统获得环境信息的唯一途径。视觉系统的识别速度、精度直接影响到比赛的胜负。针对传统的视觉系统在机器人足球比赛中的缺点,提出基于多分辨率分析与FCM算法的新型足球机器人视觉系统的设计方法,实验结果表明:该设计方案能够提高比赛中的识别速度和精度,并具有良好的适应性。

关键词: 机器视觉, 足球机器人, 小波变换, 模糊聚类