中文摘要：

足球机器人视觉系统需在有限的计算能力下应对平台运动，场景变化，光照不均所引起的干扰，而图像的获取过程与此要求关系密切，在经典的图像处理算法基础上，分析了摄像机参数、传输速率、图像格式对图像处理算法及视觉综合性能的影响，提出了足球机器人图像获取过程的优化方法，并指明了足球机器人视觉系统各项性能提升的方向。

英文摘要：

The soccer robot vision system has to deal with the disturbance from the moving platform, the changing view sight and the uneven lightening when its computing power is limited. And the process of image acquisition is strongly related with this requirement. It analyzes,based on the classical image processing algorithm, the impacts of the camera parameters, the transfer speed and the image formats to the image processing method and synthetic performance of the vision system. It proposes the method to optimize the image capturing procedure,and also points out the direction of soccer robots＇ vision upgrading.