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1、Proceedingsofthe2003IEEEInternationalConferenceonRobotics,IntelligentSystemsandSignalProcessingChangsha,China-October2003AFastandRobustVisionSystemforAutonomousMobileRobotsZHANGHai-bo,YUANKui,LrUJin-dongInstituteofAutomation,ChineseAcademyofSciences,Beijing100080,ChinaE-mail:hai
2、bo.zhang@mail.ia.ac.cnAbstractcansatisfytheneedsofbothrobustnessandefficiencyisstillverydifficult.Computervisionsystemisanimportantsensorforautonomousmobilerobot.Howeve6thedesignofavisionTodevelopapracticalvisionsystem,theemphasisofoursystemthatcansatisfytheneedsofbothrobustness
3、andworkisonspeed(25Framesisec)androbustnessforloweflciencyisstilldtficult.Inthispaper,afastandrobustlevelprocessingtasks,soastomaximizetheavailablevisionsystemisdescribedwhichincreasesitsspeedandtimeforhighleveldecisionmakingprocesses.Sincerobusmessthroughchoosingsuitablecolorsp
4、ace,computationallyexpensivetechniquesareinapplicable,algorithmsofmathematicalmorphologyandactivewefocustotheuseofcolorinformationoftheobjects.Inadiushnentinparameters.Allofthealgorithmsarefact,colorinformationprocessingprovidesmorereliableemployedinapan-tiltvisionsystemofanauto
5、nomousandaccurateresultsforrobotvision,andwithcarefulmobilerobot.attentiontosomeforgettabledetails,fastimagesegmentationispossible[3][4].1IntroductionInthispaper,ourapproachestoafastandrobustcolorAutonomousmobilerobotswithvisualcapabilitiesisavisionsystemaredescribed.Followingth
6、eintroductorygreatchallengeforcomputervisionsystemssincetheysection,experimentsofcolormodelandspacechoosingrequireskillsforthesolutionofcompleximageareintroducedinsection2.Insection3,asimplebutunderstandingproblems[I].Itcanhesafelysaidthateffectiveapproachofmathematicalmorpholog
7、yisusedvisionsystemisoneofthemostcrucialfactorsinfordatapre-processing.Section4presentsthetechniquesautonomousmobilerobotapplications.Forexample,toofactiveparametersadjustment,whichmakeoursystem'play'soccerorserveforhuman,therobotmustbeabletomoreintelligentandrobust.Experimental
8、resultsarefmdandmaintainfixationonamovingtarget
