RoboCup 2016 ヒューマノイドTeenSize優勝チームNimbRo：堅牢な視覚認識とサッカー行動
RoboCup 2016 Humanoid TeenSize Winner NimbRo: Robust Visual Perception and Soccer Behaviors
白いゴールと人工芝という難化したRoboCupヒューマノイドリーグ環境に対応するため、ロボットプラットフォームの適応と視覚認識・サッカー行動の最新開発を報告した優勝チームの論文。
著者: Hafez Farazi, Philipp Allgeuer, Grzegorz Ficht, André Brandenburger, Dmytro Pavlichenko, Michael Schreiber, Sven Behnke
分類: cs.RO
原文アブストラクト
The trend in the RoboCup Humanoid League rules over the past few years has been towards a more realistic and challenging game environment. Elementary skills such as visual perception and walking, which had become mature enough for exciting gameplay, are now once again core challenges. The field goals are both white, and the walking surface is artificial grass, which constitutes a much more irregular surface than the carpet used before. In this paper, team NimbRo TeenSize, the winner of the TeenSize class of the RoboCup 2016 Humanoid League, presents its robotic platforms, the adaptations that had to be made to them, and the newest developments in visual perception and soccer behaviour.
