Embedded Real-Time Ball Detection Unit for the YABIRO Biped Robot

Author

Bader, Markus ; Albero, Miguel ; Sablatnig, Robert ; Simó, José E. ; Benet, Ginés ; Novak, Gregor ; Blanes, Francisco

Author_Institution

Inst. of Comput. Aided Autom. Pattern Recognition & Image Process. Group, Vienna Univ. of Technol.,

fYear

2006

fDate

30-30 June 2006

Firstpage

1

Lastpage

9

Abstract

Estimation of objects in a 3D space is a fundamental problem in computer vision and robotics. This paper describes an algorithm and its implementation for a vision module as a sensor of a biped robot (YABIRO). The embedded vision sensor is able to estimate the position of objects like spheres in 3D space. Objects are defined with their size and color in a model. The vision sensor detects the positions or at least the directions to the objects and stores them in a history. The algorithm includes a new voting system for detected objects, based on how trustable the detection was, and a new edge filter to terminate edges on the circle border for the circle detection. The systems frame rate depends on the area of interest and lies between 5 Hz and 20 Hz. With a mechanical size of 36times32mm it is smaller than a matchbox

Keywords

edge detection; embedded systems; legged locomotion; object detection; robot vision; YABIRO biped robot; circle detection; computer vision; embedded real-time ball detection unit; embedded vision sensor; robotics; vision module; Cameras; Computer vision; Detection algorithms; Embedded computing; Hardware; Image edge detection; Object detection; Robot sensing systems; Robot vision systems; Space technology;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Solutions in Embedded Systems, 2006 International Workshop on

Conference_Location

Vienna

Print_ISBN

3-902463-06-6

Type

conf

DOI

10.1109/WISES.2006.329110

Filename

4125761