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Object Recognition and Self-Localization for Interactive Soccer Robots

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2 Author(s)
Yasuda, G. ; Dept. of Mech. Eng., Nagasaki Inst. of Appl. Sci. ; Bin Ge

This paper presents an experimental study on object recognition and self-localization for multiagent robotic soccer. A color image segmentation method based on UV 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 values of U and V are determined for the sample color markers. Then color image segmentation is performed using the tables that transform each value of 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

Published in:

Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on

Date of Conference:

22-26 Aug. 2004

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