A Monocular Vision System for Playing Soccer in Low Color Information Environments
A Monocular Vision System for Playing Soccer in Low Color Information Environments
复制标题
用于在低色彩信息环境中踢足球的单目视觉系统
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Sven Behnke
中科院分区：
文献类型：
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作者：
Hafez Farazi;Philipp Allgeuer;Sven Behnke
类人足球机器人只通过摄像头感知环境。本文提出了一种单目视觉系统，最初开发的机器人杯人形联赛中使用，但预计将转移到其他足球联赛。最近人形联盟规则的变化导致足球环境的颜色编码比前几年少，这使得对比赛情况的感知更具挑战性。所提出的视觉系统解决了这些挑战，通过使用亮度和纹理检测所需的字段功能和对象。我们的系统是强大的光照条件的变化，并设计用于实时使用的人形足球机器人。本文介绍了使用的检测算法的主要组成部分，并提出了实验结果，从足球场，使用ROS和igus类人开放平台作为测试床。该视觉系统已在2015年RoboCup上成功使用。
Humanoid soccer robots perceive their environment exclusively through cameras. This paper presents a monocular vision system that was originally developed for use in the RoboCup Humanoid League, but is expected to be transferable to other soccer leagues. Recent changes in the Humanoid League rules resulted in a soccer environment with less color coding than in previous years, which makes perception of the game situation more challenging. The proposed vision system addresses these challenges by using brightness and texture for the detection of the required field features and objects. Our system is robust to changes in lighting conditions, and is designed for real-time use on a humanoid soccer robot. This paper describes the main components of the detection algorithms in use, and presents experimental results from the soccer field, using ROS and the igus Humanoid Open Platform as a testbed. The proposed vision system was used successfully at RoboCup 2015.
儿童尺寸 3D 打印 igus 人形开放平台
DOI：
10.1109/humanoids.2015.7363519
发表时间：
2015
期刊：
2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)
影响因子：
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作者：
Philipp Allgeuer;Hafez Farazi;Michael Schreiber;Sven Behnke
通讯作者：
Sven Behnke