Abstract
A vision system for group of small mobile robots playing soccer is presented. The whole process of extracting vision information from input images is discussed in detail. The method for correcting radial distortion introduced to the image by camera’s lens is presented, then simple adaptive background subtraction algorithm is described. Next, classical flood fill algorithm is presented together with novel optimization giving better results and shorter calculation time. Later, novel method for calculating object’s orientation, based on the geometrical moments and special shape of color markers on top of each robot, is presented. Then, the color classifier based on the histogram intersection kernel is discussed. Design of the vision system as a central server providing vision information to many clients simultaneously is presented. Experimental results obtained with use of the algorithm presented are also provided.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Sridharan, M., Stone, P.: Autonomous Color Learning on a Mobile Robot. In: The Twentieth National Conference on Artificial Intelligence (AAAI 2005), Pittsburgh, USA (July 2005)
Jeong, S.: Histogram-Based Color Image Retrieval Psych221/EE362 Project Report. Stanford University (2001)
Lee, S.M., Xin, J.H., Westland, S.: Evaluation of Image Similarity by Histogram Intersection. COLOR Research and Application 30(4), 265–274 (2005)
Piccardi, M.: Background Subtraction Techniques: A Review Lecture Notes. University of Technology Sydney (2004)
Tsai, R.Y.: A Versatile Camera Calibration Techniaue for High-Accuracy 3D Machine Vision Metrology Using off-the-shelf TV Cameras and Lenses. IEEE Journal of Robotics and Automation RA-3(4), 323–344 (1987)
Robinson, J.: CLIP: C++ Template Library for Image Processing (2006), http://www.intuac.com/userport/john/clip104.html
Skrzypczyk, K., Gałuszka, A., Pacholczyk, M., Daniec, K.: Probabilistic approach to planning collision free path of UAV. In: Nawrat, A., Simek, K., Świerniak, A. (eds.) Advanced Technologies for Intelligent Systems of National Border Security. SCI, vol. 440, pp. 59–68. Springer, Heidelberg (2013)
Gałuszka, A., Pacholczyk, M., Bereska, D., Skrzypczyk, K.: Planning as Artifficial Intelligence Problem-short introduction and overview. In: Nawrat, A., Simek, K., Świerniak, A. (eds.) Advanced Technologies for Intelligent Systems of National Border Security. SCI, vol. 440, pp. 95–104. Springer, Heidelberg (2013)
Galuszka, A., Swierniak, A.: Planning in multi-agent environment using strips representation and non-cooperative equilibrium strategy. Journal of Intelligent and Robotic Systems: Theory and Applications 58(3-4), 239–251 (2010)
Jędrasiak, K., Nawrat, A., Wydmańska, K.: SETh-link the distributed management system for unmanned mobile vehicles. In: Nawrat, A., Simek, K., Świerniak, A. (eds.) Advanced Technologies for Intelligent Systems of National Border Security. SCI, vol. 440, pp. 247–256. Springer, Heidelberg (2013)
Iwaneczko, P., Jędrasiak, K., Daniec, K., Nawrat, A.: A prototype of unmanned aerial vehicle for image acquisition. In: Bolc, L., Tadeusiewicz, R., Chmielewski, L.J., Wojciechowski, K. (eds.) ICCVG 2012. LNCS, vol. 7594, pp. 87–94. Springer, Heidelberg (2012)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Babiarz, A., Bieda, R., Jaskot, K. (2013). Vision System for Group of Mobile Robots. In: Nawrat, A., Kuś, Z. (eds) Vision Based Systemsfor UAV Applications. Studies in Computational Intelligence, vol 481. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00369-6_9
Download citation
DOI: https://doi.org/10.1007/978-3-319-00369-6_9
Publisher Name: Springer, Heidelberg
Print ISBN: 978-3-319-00368-9
Online ISBN: 978-3-319-00369-6
eBook Packages: EngineeringEngineering (R0)