Target Recognition, Localization, and Motion Control of Soccer Robot

Table 2

Evaluation indicators after image enhancement.

Illumination/lux	Brightness mean	Standard deviation	Entropy	Average gradient
90	0.423	0.147	4.958	0.015
110	0.457	0.118	4.749	0.014
140	0.470	0.151	4.938	0.015