A global vision system for a robot soccer team
Ball, David, Wyeth, Gordon, & Nuske, Stephen (2004) A global vision system for a robot soccer team. In Barnes, Nick & Austin, David (Eds.) 2004 Australasian Conference on Robotics and Automation, Australian Robotics and Automation Association Inc, Canberra.
This paper describes the real time global vision system for the robot soccer team the RoboRoos. It has a highly optimised pipeline that includes thresholding, segmenting, colour normalising, object recognition and perspective and lens correction. It has a fast ‘paint’ colour calibration system that can calibrate in any face of the YUV or HSI cube. It also autonomously selects both an appropriate camera gain and colour gains robot regions across the field to achieve colour uniformity. Camera geometry calibration is performed automatically from selection of keypoints on the field. The system achieves a position accuracy of better than 15mm over a 4m × 5.5m field, and orientation accuracy to within 1°. It processes 614 × 480 pixels at 60Hz on a 2.0GHz Pentium 4 microprocessor.
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|Item Type:||Conference Paper|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)|
|Divisions:||Current > Institutes > Institute for Future Environments|
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2004 [please consult the authors]|
|Deposited On:||23 Jun 2010 07:34|
|Last Modified:||10 Dec 2013 12:04|
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