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...

This paper describes an approach to real-time detecting static pointing armpostures which can be used to send position instructions to a mobile robot. This takes place by analyzing the color image and utilizing the range image of the scene obtained by a stereo vision system. First the algorithm locates the person’s face and afterwards the arm-postures are recognized. The start as well as the en...

Computer Vision System (CVS) is an important tool for robot navigation. In this paper, a CVS is proposed for controlling mobile robots which is based on Multi-Layer Neural Networks. This system is constituted by two main modules: vision module and navigation control module. The first module processes images that can contain several objects with different colors, returning the position of one of...

Mapping algorithms commonly use “radial sweeps” of the surrounding environment as input. Producing a sweep is a challenging task for a robot using only vision. With no odometers to measure turn angles, a vision-based robot must have another method to verify rotations. In this paper we propose using the Radial Obstacle Profile (ROP) which gives the radial distance to the nearest obstacle in any ...

This paper describes a generic approach to generating intelligence systems for robots that perform an operation we call “hunt and gather”. While, there have been various solutions proposed for complete systems that perform hunt and gather tasks within specified domains, the focus of the research presented here is to develop a minimalist system that can be used across a variety of problems witho...

The development of cheap robot platforms with on-board vision remains one of the key challenges that robot builders have yet to surmount. This paper presents the prototype development of a low cost (<US$1000), on-board vision based, robot platform that participated in the small-size league in RoboCup’2000. The robot platform, named the VIPER robot, represents an integration of state of the art ...

Topological localization is especially suitable for human-robot interaction and robot’s high level planning, and it can be realized by visual place recognition. In this paper, bag-of-features, a popular and successful approach in pattern recognition community, is introduced to realize robot topological localization. By combining the real-time local visual features proposed by ourselves for omni...

Vision-guided robotics has been one of the major research areas in the mechatronics community in recent years. The aim is to emulate the visual system of humans and allow intelligent machines to be developed. With higher intelligence, complex tasks that require the capability of human vision can be performed and replaced by machines. The applications of visually guided systems are many, from au...

In this paper, a new biped robot soccer game platform was proposed. The platform is based on biped humanoid robot, it combined the research of robot control, wireless communication, machine vision, which make the humanoid robot game possible. Based on this platform, one can develop more advanced humanoid robot.

This paper presents an new vision technique for robotic manipulation of randomly oriented objects in industrial applications. The proposed approach uses 2D and 3D vision for efficiently extracting the 3D pose of an object in the presence of multiple randomly positioned objects. 2D vision permits to quickly select the objects of interest for 3D processing with a new modified ICP algorithm (FaR-I...