对于由全景视觉系统采集到的全景图像，本文采用对光线不敏感的HSI颜色模型进行颜色标定，利用游程编码进行图像分割，并在此基础上进行球、球门、角柱和白线的特征提取。

The HSI color model is not sensitive to light, so we can use it for color calibration, image segmentation by run-length code, and objection recognition to the ball, goal, and the white lines.

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用形态学方法对海图信息进行压缩和恢复，然后用游程编码对骨架进行编码和解码，达到用最少的空间存储最多的信息。

This paper presents a new method, in which nautical chart information can be compressed and restored by mathematical morphology technique.

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