A global vision system for a robot soccer team

Ball, D. M., Wyeth, G. F. and Nuske, S. (2004). A global vision system for a robot soccer team. In: Nick Barnes and David Austin, Proceedings of the 2004 Australasian Conference on Robotics and Automation (ACRA 2004). The 2004 Australasian Conference on Robotics and Automation (ACRA 2004), Canberra, Australia, (1-7). 6-8 December 2004.


Author Ball, D. M.
Wyeth, G. F.
Nuske, S.
Title of paper A global vision system for a robot soccer team
Conference name The 2004 Australasian Conference on Robotics and Automation (ACRA 2004)
Conference location Canberra, Australia
Conference dates 6-8 December 2004
Proceedings title Proceedings of the 2004 Australasian Conference on Robotics and Automation (ACRA 2004)
Place of Publication Sydney, Australia
Publisher Australian Robotics and Automation Association
Publication Year 2004
Sub-type Fully published paper
ISBN 9780958758369
0-9587583-6-0
Editor Nick Barnes
David Austin
Start page 1
End page 7
Total pages 7
Collection year 2004
Language eng
Abstract/Summary 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 acheives 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.
Subjects E1
290301 Robotics and Mechatronics
780199 Other
Q-Index Code E1
Additional Notes CD-ROM

 
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Created: Thu, 23 Aug 2007, 19:34:10 EST