低色彩情報環境でサッカーをするための単眼視覚システム
A Monocular Vision System for Playing Soccer in Low Color Information Environments
色分けが少ないロボカップヒューマノイドリーグの環境に対応するため、明るさとテクスチャを用いてフィールドの特徴や物体を検出する単眼視覚システムを開発し、実機で評価した。
著者: Hafez Farazi, Philipp Allgeuer, Sven Behnke
分類: cs.RO
原文アブストラクト
Humanoid soccer robots perceive their environment exclusively through cameras. This paper presents a monocular vision system that was originally developed for use in the RoboCup Humanoid League, but is expected to be transferable to other soccer leagues. Recent changes in the Humanoid League rules resulted in a soccer environment with less color coding than in previous years, which makes perception of the game situation more challenging. The proposed vision system addresses these challenges by using brightness and texture for the detection of the required field features and objects. Our system is robust to changes in lighting conditions, and is designed for real-time use on a humanoid soccer robot. This paper describes the main components of the detection algorithms in use, and presents experimental results from the soccer field, using ROS and the igus Humanoid Open Platform as a testbed. The proposed vision system was used successfully at RoboCup 2015.
