关键词: 最优信息融合, Kalman滤波, 机器人视觉传感器, 机器人足球系统

Abstract: The optimal information fusion Kalman filter algorithm gives the linear minimum variance in the dynamic environment. This paper applies the optimal information fusion Kalman filter algorithm to the ball state estimation and prediction in robot soccer system，and presents the processing structure of information fusion and detailed realization steps of the algorithm.The experimentation result shows that this algorithm can eliminate noises contained in single robot vision sensor data and precisely estimate and predict the state of the ball with good feasibility and advantage.Furthermore，when some robot vision sensor is faulty，it also has fault tolerance and robustness properties.

Key words: optimal information fusion, Kalman filter, robot vision sensor, robot soccer system