Object detection and Localization using an Omni directional vision system in RoboCup environment
نویسندگان
چکیده
ABSTRACT In this paper, we describe a design and construction method for an omni directional vision system and how to use it on autonomous robots for object detection, localization and also collision avoidance in middle size league of RoboCup. This vision system uses two mirrors, a flat and a hyperbolic one. The flat mirror is used for detecting very close objects around the robot body, moreover the hyperbolic one is used as a global viewing device to construct a world model for the soccer field. This world model contains information about the position and orientation of the robot itself and the position of other objects in a fixed coordinate system. In addition, a fast object detection method is introduced. It reduces the entire search space of an image into a limited number of jump points. The objects are detected by examining the color of pixels on these, jump points and a few pixels on their neighborhood. We introduce a fast and robust localization method, using the angle of several fixed landmarks on the field with respect to the robot. Our localization method is based on line detection that uses clustering and Hough transform method. The omni directional viewing system is combined with a front view that uses a plain CCD camera. This combination provided A total vision system solution that was tested in RoboCup 2001 competitions in Seattle and satisfactory results in near real time speed was obtained.
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