Abstract
This paper describes a complete and efficient vision system developed for the robotic soccer team of the University of Aveiro, CAMBADA (Cooperative Autonomous Mobile roBots with Advanced Distributed Architecture). The system consists on a firewire camera mounted vertically on the top of the robots. A hyperbolic mirror placed above the camera reflects the 360 degrees of the field around the robot. The omnidirectional system is used to find the ball, the goals, detect the presence of obstacles and the white lines, used by our localization algorithm. In this paper we present a set of algorithms to extract efficiently the color information of the acquired images and, in a second phase, extract the information of all objects of interest. Our vision system architecture uses a distributed paradigm where the main tasks, namely image acquisition, color extraction, object detection and image visualization, are separated in several processes that can run at the same time. We developed an efficient color extraction algorithm based on lookup tables and a radial model for object detection. Our participation in the last national robotic contest, ROBOTICA 2007, where we have obtained the first place in the Medium Size League of robotic soccer, shows the effectiveness of our algorithms. Moreover, our experiments show that the system is fast and accurate having a maximum processing time independently of the robot position and the number of objects found in the field.
This is a preview of subscription content, log in via an institution to check access.
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
Caleiro, P.M.R., Neves, A.J.R., Pinho, A.J.: Color-spaces and color segmentation for real-time object recognition in robotic applications. Revista do DETUA 4(8), 940–945 (2007)
Carter, B.: EST LA.: Mechanical Design and Modeling of an Omni-directional RoboCup Player. In: Birk, A., Coradeschi, S., Tadokoro, S. (eds.) RoboCup 2001. LNCS (LNAI), vol. 2377, Springer, Heidelberg (2002)
Almeida, L., Pedreiras, P., Fonseca, J.A.: FTT-CAN: Why and How. IEEE Trans. Industrial Electronics (2002)
Almeida, L., Santos, F., Facchinetti, T., Pedreira, P., Silva, V., Lopes, L.S.: Coordinating Distributed Autonomous Agents with a Real-Time Database: The CAMBADA Project. In: Aykanat, C., Dayar, T., Körpeoğlu, İ. (eds.) ISCIS 2004. LNCS, vol. 3280, pp. 876–886. Springer, Heidelberg (2004)
Pedreiras, P., Teixeira, F., Ferreira, N., Almeida, L., Pinho, A., Santos, F.: Enhancing the reactivity of the vision subsystem in autonomous mobile robots using real-time techniques. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds.) RoboCup 2005. LNCS (LNAI), vol. 4020, Springer, Heidelberg (2006)
Santos, F., Almeida, L., Pedreiras, P., Lopes, L.S., Facchinetti, T.: An Adaptive TDMA Protocol for Soft Real-Time Wireless Communication among, Mobile Autonomous Agents. In: Santos, F. (ed.) Proc. WACERTS 2004, Int. Workshop on Architecture for Cooperative Embedded Real-Time Systems (in conjunction with RTSS 2004), Lisboa, Portugal (2004)
Kopets, H.: Real-Time Systems Design Principles for Distributed Embedded Applications. Kluwer, Dordrecht
Bresenham, J.E.: A linear algorithm for incremental digital display of circular arcs. CA CM 20(2), 100–106 (1977)
Bresenham, J.E.: Algorithm for computer control of a digital plotter. IBM Systems J. 4(1), 25–30 (1965)
Heinemann, P., et al.: Fast and Accurate Environment Modelling using Omnidirectional Vision. Dynamic Perception, 9–14, Infix (2004)
Heinemann, P., et al.: Tracking Dynamic Objects in a RoboCup Environment - The Attempto Tübingen Robot Soccer Team. In: Polani, D., Browning, B., Bonarini, A., Yoshida, K. (eds.) RoboCup 2003. LNCS (LNAI), vol. 3020, Springer, Heidelberg (2004)
Gaspar, J., Winters, N., Grossmann, E., Santos-Victor, J.: Toward Robot Perception using Omnidirectional Vision. In: Innovations in Machine Intelligence and Robot Perception, Springer, Heidelberg (2004)
Hoffmann, J., et al.: A vision based system for goal-directed obstacle avoidance. In: Nardi, D., Riedmiller, M., Sammut, C., Santos-Victor, J. (eds.) RoboCup 2004. LNCS (LNAI), vol. 3276, Springer, Heidelberg (2005)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Neves, A.J.R., Corrente, G.A., Pinho, A.J. (2007). An Omnidirectional Vision System for Soccer Robots. In: Neves, J., Santos, M.F., Machado, J.M. (eds) Progress in Artificial Intelligence. EPIA 2007. Lecture Notes in Computer Science(), vol 4874. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-77002-2_42
Download citation
DOI: https://doi.org/10.1007/978-3-540-77002-2_42
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-77000-8
Online ISBN: 978-3-540-77002-2
eBook Packages: Computer ScienceComputer Science (R0)