Object recognition and self-localization for interactive soccer robots

被引：0

作者：

Ge, Bin ^{[1
,2
]}

Yasuda, Gen'ichi ^{[3
]}

Yin, Fuliang ^{[1
]}

Zhao, Hongwei ^{[2
]}

机构：

[1] Dalian Univ Technol, Coll Elect & Informat Engn, Dalian 116024, Peoples R China

[2] Dalian Univ, Inst Informat, Dalian 116622, Peoples R China

[3] Nagasaki Inst Appl Sci, Dept Mech Engn, Nagasaki, Japan

来源：

WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS | 2006年

关键词：

color image segmentation; object recognition; self-localization mobile robots; robotic soccer;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an experimental study on object recognition and self localization for multiagent robotic soccer. A color image segmentation method based on YUV color information of each pixel of the color image is applied to the ball recognition and self-localization of a small mobile robot. First the lower and higher threshold of Y, U, and V, are determined for the sample color markers. Then color image segmentation is performed using the tables that transform each value of Y, U, and V, in a pixel to membership in several color classes. The position of objects on the field is efficiently and accurately calculated using a monocular camera. Self-localization is accomplished using the distances and orientations of two landmarks. Experimental results of real-time movement control are also presented.

引用

页码：707 / 707

页数：1

共 7 条

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[3] HAN K, 1998, P ICRA 98
[4] Kanayama Y., 1991, Proceedings IROS '91. IEEE/RSJ International Workshop on Intelligent Robots and Systems '91. Intelligence for Mechanical Systems (Cat. No.91TH0375-6), P1236, DOI 10.1109/IROS.1991.174669
[5] KUBOTA T, 1989, J ROBOTICS SOC JAPAN, V7, P267
[6] Yasuda G, 2002, PROCEEDINGS OF THE 3RD CHINA-JAPAN SYMPOSIUM ON MECHATRONICS, P191
[7] YASUDA G, 2000, J ROBOTICS MECHATRON, V12, P29

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