Abstract
We describe the omnidirectional local vision system developed for the FU-Fighters, a RoboCup F180 league soccer team. A small video camera mounted vertically on top of the robots looks at a concave parabolic mirror placed above the camera that reflects the field around. The image is sent via a radio link to an external PC for processing.
Our computer vision system can find the ball and detect other robots as obstacles. The walls of the field are also recognized and are used to determine the initial position of the robot. In order to be able to process the video stream at full frame rate the movement of all objects is tracked, including the walls of the field. The key idea of our approach is to predict the location of color edges in the next frame and to search for such color transitions along lines that are perpendicular to the edge.
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
Download to read the full chapter text
Chapter PDF
References
Ryad Benosman, Sing Bing Kang (editors), Panoramic Vision: Sensors, Theory, and Applications, Springer, 2001.
Hough, Machine Analysis of Bubble Chamber Pictures, International Conference on High Energy Accelerators and Instrumentation, CERN, 1959.
ART, F2000 team homepage, http://www.dis.uniromal.it/~ART/.
Golem, F2000 team homepage, http://www.golemrobotics.com/gteam/gteam.html.
OMNI, F180 team homepage, http://robotics.me.es.osaka-u.ac.jp/OMNI.
Bonarini, A., (2000) The Body, the Mind or the Eye, first? In M. Veloso, E. Pagello, A. Asada (Eds), Robocup99-Robot Soccer World Cup III, Springer Verlag, Berlin.
Bonarini A., Aliverti, P., Lucioni, M. (2000). An omnidirectional sensor for fast tracking for mobile robots. T. Instrumentation and Measurement. 49(3). 509-512.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2002 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Hundelshausen, F.v., Behnke, S., Rojas, R. (2002). An Omnidirectional Vision System That Finds and Tracks Color Edges and Blobs. In: Birk, A., Coradeschi, S., Tadokoro, S. (eds) RoboCup 2001: Robot Soccer World Cup V. RoboCup 2001. Lecture Notes in Computer Science(), vol 2377. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45603-1_46
Download citation
DOI: https://doi.org/10.1007/3-540-45603-1_46
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-43912-7
Online ISBN: 978-3-540-45603-2
eBook Packages: Springer Book Archive