Use of Stereo Vision Technology to Determine Position of Soccer Robots
Keywords:
Soccer Robots, Computer Vision, Calibration and TriangulationAbstract
The propose of this study is to develop hardware and position algorithms completely integrated with the sensorial systems of robots to determine exactly the position of soccer robots in the playing field. These algorithms detail how to configure controllers to determine the movement of robots during the match.
The study initially introduces some concepts of stereo reconstruction and triangulation in Computer Vision approaching, and provides an introduction to the calibration of cameras and types of triangulation. Finally is considers a structure to integrate camera systems with the movements of robots. An Experiment is shown which calculates the distance between robots and yours position in the real world.
References
Okko H. Bosgra, Huibert Kwakernaak and Gjerrit Meinsma, “Design Methods for Control Systemsâ€, 2009.
G. Bradski and A. Kaehler. Learning OpenCV. O'Reilly Media, Inc., Sebastopol, CA, _rst edition edition, 2008.
G. Burdea and P. Coi_et. Virtual Reality Technology. John Wiley & Sons, Inc, Hoboken, New Jersey, second edition edition, 2003.
K. Kirby, J. Forlizzi, R. Simmons. Affective social robots. Robotics and Autonomous Systems, 2010.
J. Shi and C. Tomasi. Good Features To Track. Technical report, IEEE Conference on Computer Vision and Pattern Recognition, June 1994.
E. Trucco and A. Verri. Introductory Techniques for 3-D Computer Vision. Prentice Hall, Inc., Upper Saddle River, New Jersey, edition, 1998.
R. I. Hartley and A. Zisserman, _Multiple View Geometry in Computer Vision._ Cambridge University Press, 2004.
S. T. Bernard, _A stochastic approah to stereo vision,_ Philadelphia, USA, 1986.
R. S. Nourbakhsh and I. R., Introduction to Autonomous Mobile Robots, in Bradford Company, MA, USA, 2004.
R. M. H.D. Burkhard, D.Duhaut, M.Fujita, P.Lima and R. Rojas, _The road to robocup 2050,_ Robotics & Automation Magazine, IEEE, 9(2):31-38.
M. Shibata and N. Kobayashi, _Image-based visual tracking for moving targets with active stereo vision robot, in SICE-ICASE, 2006. International Joint Conference, 2006, pp. 5329_5334.
J. K. Yi Ma, Stefano Soatto and S. S. Sastry, _An Invitation to 3-D Vision, from images to geometric models._ in Springer, 2006.
P. M. David Gallup, Jan-Michael Frahm and M. Pollefeys, Variable baseline/resolution stereo,_ 2008.
S. M. Nixon, Feature Extraction in Computer Vision and Image Processing.
R. I. Hartley., _Theory and Practice of Projective Rectification._ International Journal of Computer Vision, 35(2): 115-127, 1999.
C. . Z. Z. Loop, _Computing Rectifying Homographies for Stereo Vision,_ in IEEE Conference on Computer Vision and Pattern Recognition, Colorado, USA, 1999.
OpenCV. (Open Source Computer Vision Library). [Online]. Available: www.opencv.org
Armangue, X. e Salvi, J. (2003). Overall view regarding fundamental matrix estimation. Image and Vision Computing, 21:205–220.
Downloads
Published
Issue
Section
License
- Papers must be submitted on the understanding that they have not been published elsewhere (except in the form of an abstract or as part of a published lecture, review, or thesis) and are not currently under consideration by another journal published by any other publisher.
- It is also the authors responsibility to ensure that the articles emanating from a particular source are submitted with the necessary approval.
- The authors warrant that the paper is original and that he/she is the author of the paper, except for material that is clearly identified as to its original source, with permission notices from the copyright owners where required.
- The authors ensure that all the references carefully and they are accurate in the text as well as in the list of references (and vice versa).
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Attribution-NonCommercial 4.0 International that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
- The journal/publisher is not responsible for subsequent uses of the work. It is the author's responsibility to bring an infringement action if so desired by the author.
