关键词: 视觉系统结构, 双阈值p-tile自适应分割算法, 聚类直线拟合

Abstract: The architecture of a smart vision system suitable to the Robocon2007 is introduced.The computing is performed by a standard laptop.The images are captured by a general-service color camera.So the whole system is both simple and cost-effective.The software of the vision system can segment the lane marking on the playing ground，recognize the goal object and maintain a relative localization between the robot and the goal object.To segment the lane marking，a self-adaptive double threshold p-tile algorithm is proposed.The segmentation algorithm has a conspicuous ability to adapt to the changeful lighting condition.Because of the similarity of the color character，it is difficult to recognize the goal object from the background by a monocular image explici-
tly.To integrate the information of the lane marking intersection and the color of the goal object，the problem is solved expecte-
dly.During the Robocon2007 competition，the vision system shows a robust environment adaptive ability and a relatively-high self-localization precision，and makes a great contribution to ‘the best strategy’ reward.

Key words: the architecture of the vision system, self-adaptive double threshold p-tile algorithm, fitting straight lines