Abstract: Robot soccer environment is vulnerable to changes in illumination, which results in the low recognition rate, the poor illumination adaptability. In order to solve these problems, it adopts c₁c₂ c₃  color invariant features, uses biSCAN to set a few ways of radial scanning which start from the image center and along the radius to extract the object area, and then uses SVM to recognize the object. Experimental results show that the method improves the object recognition rate and the ability to adapt to illumination.

Key words: robot；c₁c₂ c₃  color invariant features; biSCAN; support vector machine（SVM）