快速飞行的乒乓球在图像采集过程中会产生拖影, 影响甚至严重干扰对球体位置的准确识别和跟踪。对飞行乒乓球的拖影图像特点及实战型乒乓机器人的实际需求进行分析, 在此基础上提出CS-BS-EF方法, 将色彩分割、背景减除、椭圆拟合进行综合集成、优势互补, 用以检测飞行球体的拖影范围并求取球心位置。实验结果表明该方法能够有效克服拖影影响, 比较准确地识别和跟踪高速飞行的球体, 且具有良好的抗干扰性、实时性。
Fast flying ping-pong ball usually generates motion blur in image capturing process, which affects and even interferes in the process of accurately recognizing and tracking their positions.In this paper, motion blur features of flying ping-pong ball, as well as the actual demands by an adversarial ping-pong playing robot, are analyzed.Then we propose an integrated method called CS-BS-EF, which stands for a comprehensive integration and optimization in methods of color-segmentation, background-subtraction and ellipse-fitting, which overcomes the drawbacks of each one.Now, CS-BS-EF is used for detecting smear scope and calculating and tracking flying ping-pong ball.The experimental results show that CS-BS-EF is capable of surmounting the effects of motion blur, and of recognizing and tracking high-speed flying ping-pong ball with relative accuracy, anti-interfering, and instantaneity.
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