2021 – TDP – Water – RoboCupSoccer – Middle Size

This paper describes the Water Middle Size League team for the purpose of qualification to RoboCup 2021. During the last year we made an adaptive image segmentation method based on HSI color space, which can be used for object identification in robot soccer games. This method requires no human intervention, and can guarantee the real-time performance and stability of segmentation to cope with the high real-time requirement and uneven illumination in the competition. Our method is not to focusing on the shape or edge features, but to take advantage of characteristics in histograms in different color spaces to approach segmentation for one frame image. The range value of each pixels in HSI color space is obtained from the segmentation result, then the range value can be used to segment the subsequent images in a high real-time situation. The results shows our method has highly accuracy and stability in most of situations.