本论文主要就全景视觉系统进行了研究。
This paper did mainly research in panoramic vision environment perceptual system.
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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