Optimum Iris Opening for Soccer Robot Detection under Un-uniform Lighting

With the rapid technological advancement in vision systems, the advantages of vision based system as the sensing device have influenced the quality of the Robot Soccer game. This study presents an approach to produce a balanced image in terms of brightness under un-uniform lighting environment through the control of lens iris opening. Existing image processing module and CCD camera were used to obtain data of HSL (color system) properties in three un-uniform lighting conditions. These data were used to deduce the percentage of optimum iris lens aperture to increase efficiency of soccer robot detection under the un-uniform lighting conditions. The optimum range of iris lens opening was identified and the robots were detected successfully for all the ununiform lighting conditions.