在人工智能领域，足球机器人系统是一个非常好的应用与研究平台，它是一个由计算机视觉闭环的反馈控制系统，在足球机器人视觉子系统中，色标的设计是关系到系统辩识精度，实时性和抗干扰性的一个重要因素。通过对3种典型色标设计进行比较和分析，确定在一种比较合理的设计方案，并针对这种方案提出了一种快速准确的补偿逼近算法，取得了良好的辨识结果，该算法为基于视觉的集中控制式足球机器人系统的研究与开发提供了有力的保障。

Soccer robot system is a perfect platform in research and application of artificial intelligence. It is a feedback control system that closed loop by computer vision subsystem. In the vision subsystem, the design of color tag is an important factor which influences the identifying precision, real time performance and anti noise performance of the robot soccer system. Through comparing and analyzing three kinds of representative color tag design, a more reasonable design can be getting. It has many excellences such as steady centroid, non interference from opposite, simply identifying algorithm and less conglutination. Base on the character of the color tag, a fast and exact compensate approximate algorithm is given out. Through real test, the error is less then 1 degree even when the robot speed is more then 2m/s. This algorithm is a very important base for advance research and development on robot soccer.