Towards Eliminating Manual Color Calibration at RoboCup
نویسندگان
چکیده
Color calibration is a time-consuming, and therefore costly requirement for most robot teams at RoboCup. This paper presents an approach for autonomous color learning on-board a mobile robot with limited computational and memory resources. It works without any labeled training data and trains autonomously from a color-coded map of its environment. The process is fully implemented, completely autonomous, and provides high degree of segmentation accuracy. Most importantly, it dramatically reduces the time needed to train a color map in a new environment.
منابع مشابه
Robust Color Segmentation Through Adaptive Color Distribution Transformation
Color segmentation is typically the first step of vision processing for a robot operating in a colorcoded environment, such as RoboCup soccer, and many object recognition modules rely on that. Although many approaches to color segmentation have been proposed, in the official games of the RoboCup Four Legged League manual calibration is still preferred by most of the teams. In this paper we pres...
متن کاملTowards a Calibration-Free Robot: The ACT Algorithm for Automatic Online Color Training
Many approaches for object detection based on color coding were published in the RoboCup domain. They are tuned to the typical RoboCup scenario of constant lighting using a static subdivision of the color space. However, such algorithms will soon be of limited use, when playing under changing and finally natural lighting. This paper presents an algorithm for automatic color training, which is a...
متن کاملPlug and Play: Fast Automatic Geometry and Color Calibration for Cameras Tracking Robots
We have developed an automatic calibration method for a global camera system. Firstly, we show how to define automatically the color maps we use for tracking the robots’ markers. The color maps store the parameters of each important color in a grid superimposed virtually on the field. Secondly, we show that the geometric distortion of the camera can be computed automatically by finding white li...
متن کاملVision Calibration and Processing on a Humanoid Soccer Robot
In RoboCup, the problem of quickly and accurately processing visual data continues to pose a significant challenge. The Aldebaran Nao, currently used by the Standard Platform League, has two cameras for visual input, of which only one has been typically used. The integration of both cameras presents a new opportunity but also a challenge. While it is possible to obtain better information using ...
متن کاملA Vision System for RoboCup: Diploma Thesis
This diploma-thesis presents a vision system for robotic soccer which was developed and implemented by the author and tested on Sony’s four legged robot Aibo. The input for the vision system are images of the camera and the sensor readings of the robot’s head joints, the output is a set of percepts, where each percept describes the position of a recognized object in relation to the robot. There...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2005