SOMNN based object segmentation for soccer robot system using adaptive background generation

This paper proposes a SOMNN based object segmentation algorithm to detect movements in android soccer robot games by combining adaptive background generation. Since omni-directional images of the game field need to be performed proper object segmentation for effective motion recognition. The SOMNN based algorithm aims to provide adaptive segmentation even under variant brightness. Moreover, the proposed scheme combining temporal difference and adaptive background generation could improve the detection of salient motions. The experimental results in real 3 on 3 android soccer robot games demonstrate the feasibility of the proposed scheme.