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In this paper a visual self-localization method for a humanoid robot is presented. This one is based on monocular information. The goal of this method is to obtain the position (x; y) and orientation θ of the humanoid robot inside the field of play. The methods proposed include some digital image processing algorithms and geometric interpretation to perform a 3D monocular reconstruction, that allows...
In this paper, a method combining PnP and OI algorithms is developed to measure the pose of a humanoid robot in high precision in order to play table tennis. The PnP-based algorithm is employed to obtain the rough pose, which is taken as the initial value of the OI algorithm. The OI algorithm optimizes the result in order to ensure the orthogonal orientation matrix of the pose. Considering the real-time,...
A new vision for robot soccer system for color image segmentation technologies, Adaptive threshold method, which uses RGB color space segmentation threshold value, the binary image obtained using the automatic region based on distance growth approach divided goal, when there is color shift when the H of the HSV color space to extend the use of the extended H-tone re-segmentation goals, and through...
This paper presents an illumination adaptive color object recognition method for robot soccer match. Generally, the colors are identified by referring to the pre-defined bounds for the components of each color. However, it is not an easy work to define non-interfered bounds for different colors, and the bounds are sensitive to illumination conditions. Instead, in this work, different colors are discriminated...
We present the embedded vision system used in the four-legged league which is one of the official leagues in Robocup competition. This vision system runs at frame rate in AIBO robots, while detecting colour coded objects and field line features. The detection of field line features is becoming necessary because RoboCuppsilas rules change year after year in order to push progress toward real soccer...
Optimizing vision processing is crucial for real-time performance of robots in RoboCuppsilas small-size league (SSL). We describe in this paper our current approach to improve visual processing in ITAMpsilas Eagle Knights SSL team. We describe our use of a neural network to classify camera image pixels to a discrete set of color classes that is robust under different light conditions. We show how...
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