中文摘要：

在RoboCup四腿组比赛中光照条件变化对视觉图像的处理有很大影响．针对该问题，本文分析了机器人视觉传感器对相同场景产生的图像颜色随光照强度变化的规律，提出了一种基于电场模型的颜色空间变换方法，使得变换后的图像对光照强度保持不变．实验结果表明，基于这种变换的图像处理较四腿组传统方法能更好地适应光照强度变化．

英文摘要：

In RoboCup 4-legged league, variation of lighting conditions greatly affects the result of image processing. In order to solve the problem, this paper analyzes bow the color of image taken by the vision sensor varies along with lighting intensity, and presents a method of color-space transformation based on electric field model, through which color images remain consistent in spite of lighting intensity variation. Experimental results show that image processing based on the transformation has greater adaptability to lighting conditions.