关键词: 足球机器人, 视觉系统, 数学形态学, 腐蚀, 膨胀

Abstract: In FIRA MiroSot robot soccer game，the vision system is the unique only way to get the position information of the robots and the ball on the playground.The speed and precision of the recognition of the vision system directly affect the victory or defeat of the game.The positions of all the entities obtained from the traditional vision system in the robot soccer game are inaccurate.According to the disadvantage，a new method of processing the real-time images using erosion and dilation algorithm in mathematical morphology to improve the precision of the recognition of the vision system is proposed in this paper.Experiment results show that the method can improve the precise of recognition on the premise of without reducing the speed of the recognition of the vision system in the game.

Key words: soccer robot, vision system, mathematical morphology, erosion, dilation