A Single Camera Vision System for a Humanoid Robot

Author

Vilao, Claudio O. ; Perico, Danilo H. ; Silva, Isaac J. ; Homem, Thiago P. D. ; Tonidandel, Flavio ; Bianchi, Reinaldo A. C.

Author_Institution

Electr. Eng. Dept., Centro Univ. da FEI Sao Bernardo do Campo, Sao Bernardo do Campo, Brazil

fYear

2014

fDate

18-23 Oct. 2014

Firstpage

181

Lastpage

186

Abstract

This paper describes a monocular vision system for humanoid robots designed and built to compete in the RoboCup Humanoid KidSize League. The proposed vision system allows the robots to track a ball, identify goals, field lines, team mates and opponents, providing information such as distances and estimated location for the robots simultaneously, using threads. With experiments using the real robots it was possible to run the vision system in real time with Full HD camera resolution, thus achieving the main goal of this work.

Keywords

cameras; humanoid robots; image resolution; mobile robots; multi-robot systems; robot vision; RoboCup Humanoid KidSize League; distance information; field lines; full HD camera resolution; humanoid robot; mobile robot; monocular vision system; multirobot system; robot ball tracking; robot location; single camera vision system; team mates; threads; Cameras; Image color analysis; Machine vision; Robot vision systems; Support vector machines; Computational and artificial intelligence - Intelligent robots; Humanoid robots; Multi-robot systems; Robot vision systems; Robotics and automation - Mobile robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics: SBR-LARS Robotics Symposium and Robocontrol (SBR LARS Robocontrol), 2014 Joint Conference on

Conference_Location

Sao Carlos

Print_ISBN

978-1-4799-6710-0

Type

conf

DOI

10.1109/SBR.LARS.Robocontrol.2014.51

Filename

7024278