視覺系統是整個機器人足球系統的重要組成部分。根據機器人足球視覺系統的特點，提出基于游程長度編碼（RLE）的實時快速圖像處理算法。算法使用RLE 對圖像進行縮，并且在處理階段高效識別出圖像中目標的尺寸和位置。壓縮階段算法的時間復雜度與
圖像尺寸成線性關系，圖像處理階段算法的時間復雜度與圖像中目標的個數和每個目標所占的掃描行數成線性關系。
關鍵詞： 機器人足球視覺系統；實時圖像處理；壓縮圖像處理
An algorithm for real-time image processing in the robot soccer vision system HE Xin , LIU Lizhu (Dept. Signal Analysis engineering of PLA Information Engineering University, Zhengzhou, 450002) [Abstract] Vision system is an important part of the whole robot soccer system. Based on the characteristics of the robot soccer vision system, an algorithm using Run Length Encoding (RLE) for real-time image processing is presented. RLE compresses the image and allows the processing algorithm to efficiently identify the size and position of the objects in the image. It is shown that the time complexity of the compression phase is linear with the size of the image while the image processing phase is linear with the number of objects in the image and the number of lines occupied by the objects in the image.
[Key words] robot soccer vision system; real-time image processing; compressed image
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