[1]GUO Xiaofeng,WANG Yaonan,ZHOU Xianen,et al.Chess-piece localization and recognition method for Chinese chess robot[J].CAAI Transactions on Intelligent Systems,2018,13(4):517-523.[doi:10.11992/tis.201709020]
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Chess-piece localization and recognition method for Chinese chess robot

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 13 Number of periods: 2018 4 Page number: 517-523 Column: 学术论文—机器感知与模式识别 Public date: 2018-07-05
Title:
Chess-piece localization and recognition method for Chinese chess robot
Author(s):
GUO Xiaofeng1; 2;  WANG Yaonan1; 2;  ZHOU Xian’en1; 2;  YIN A’ting1; 2;  ZHAO Huiping1; 2;  LIU Lei1; 2
1. College of Electrical and Information Engineering, Hunan University, Changsha 410082, China;
2. National Engineering Laboratory for Robot Visual Perception and Control Technology, Changsha 410082, China
Keywords:
machine vision; circle detection; character recognition; minimum circumcircle positioning; rotating differential recognition
CLC:
TP242
DOI:
10.11992/tis.201709020
Abstract:
To improve the localization and recognition of chess pieces by the Chinese chess robot system, in this paper, we propose a positioning method based on the secondary positioning of the minimum circumcircle and the use of a rotating differential recognition algorithm. First, we use the Hough circle detection method to roughly position chess pieces and then subject them to mean-value binarization. Next, we morphologically process the binarized images to extract the maximum area contours and use their minimum circumcircle values to achieve secondary precise positioning of the chess pieces. Lastly, the rotating differential recognition algorithm recognizes the secondary positioning of the corrected images. Using the chess robot we previously developed and selecting chess pieces with a diameter of 15 mm as test objects, we collected and tested the resulting images. The results show that the positioning accuracy of the chess pieces is within 0.5 mm, and the average positioning time is 2.6 ms. To ensure a 95% recognition accuracy of the chess pieces, the mean full-process operation period for a single chess piece is 10 ms, which fully meets the requirements of the current chess robot.
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