Target Recognition, Localization, and Motion Control of Soccer Robot

Table 1

Evaluation indicators before image enhancement.

Illumination/lux	Brightness mean	Standard deviation	Entropy	Average gradient
90	0.152	0.136	4.733	0.007
110	0.205	0.088	4.323	0.005
140	0.218	0.141	4.668	0.007