Title :
A visual compass for robot soccer
Author :
Asik, Okan ; Akin, H.L.
Author_Institution :
Bilgisayar Muhendisligi Bolumu, Bogazici Univ., Istanbul, Turkey
Abstract :
This paper proposes a cheap image processing method for visual compass in the robot soccer context. An offline map is constructed by using color transition histogram features. When a feature is extracted, we calculate maximum likelihood orientation of that feature over the pre-calculated map. This instantaneous orientation information updates orientation belief with given mixing constant. We presented a fast method to disambiguate goals in symetric field in RoboCup standart platform league. The method can correctly identify the goals with 94% accuracy for Webots simulations experiments and 86% accuracy for real robot experiments.
Keywords :
feature extraction; image colour analysis; maximum likelihood estimation; mobile robots; robot vision; RoboCup standart platform league; Webots simulations experiments; cheap image processing method; color transition histogram features; feature extraction; instantaneous orientation information; maximum likelihood orientation; mixing constant; offline map; orientation belief; robot experiments; robot soccer; visual compass; Compass; Conferences; Feature extraction; Monte Carlo methods; Robots; Signal processing; Visualization; image processing; robot soccer; visual compass;
Conference_Titel :
Signal Processing and Communications Applications Conference (SIU), 2014 22nd
Conference_Location :
Trabzon
DOI :
10.1109/SIU.2014.6830651