http://www.robocup-2013.org/middle-size-league/
RoboCup Vision System : Fast Object Tracking with OpenCV - David Cnoops Source: OAI
http://www.researchgate.net/publication/28669054_RoboCup_Vision_System__Fast_Object_Tracking_with_OpenCV
ABSTRACT This thesis is the result of an international internship in Vaasa, Finland made possible by the Erasmus exchange program.
For a period of three months I worked at the Technobotnia Research Laboratory from VAMK, the University of Applied Sciences. Together with Wout Verlinden, a colleague student from the KHK, I was assigned to the Botnia RoboCup Team.
RoboCup is a project aimed at making robots autonomously play football.
During this internship, I have developed a vision system capable of detecting a tracking the robots used by the Botnia RoboCup Team.
For the creation of this vision system I used a powerful vision library called OpenCV.
This thesis will explain the theory behind computer vision, as well as the image processing techniques and code I have used to develop the RoboCup Vision System.
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Participants Middle Size League
http://www.robocup-2013.org/participants-middle-size-league/
BITAC , Beijing Institute of Technology, China
NuBot , National University of Defense Technology, China
Water , Beijing Information Science & Technology Univ, China
Carpe Noctem , University of Kassel, Germany
MRL , Qazvin Islamic Azad University, Iran, Islamic Republic of
Hibikino-Musashi , Kyushu Institute of Technology and Nippon Bunri University, Japan
TechUnited , Eindhoven University of Technology, Netherlands
Cambada , University of Aveiro, Portugal
Cambada , University of Aveiro, Portugal
SocRob , ISR/IST, Institute for Systems and Robotics Lisbon, Portugal
ISePorto , LSA/ISEP, Susperior Institute of Engineering of Po, Portugal
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Savvy Roboteer discussion on RoboCup and OpenCV 2010
http://robosavvy.com/forum/viewtopic.php?t=6879
robaldo, Tue Dec 28, 2010 subject: OpenCV in humanoid
hi all
have you ever used OpenCV for image processing in humanoid robots? i want to know how OpenCV help robotic and robocup (Humanoid)!
how to use it!?!
is using OpenCV better than learning image processing basics? why? what are benefits of learning OpenCv?
SK - Wed Dec 29, 2010
Most RoboCup teams (in the humanoid and standard platform league, that is) use largely custom image processing approaches, as there is very limited processing power available on the robots and it thus makes sense to use all available knowledge and possible optimizations for the given scenario.
In both leagues, elements of the playing field and robots are currently color-coded and this fact is leveraged in image processing systems. Both B-Human and the Dribblers (champions 2009 and 2010 in their respective leagues) use a so called "scanline" approach, where the image gets sampled using scanlines that are more coarse than the image resolution. For all sample points, the pixel gets assigned a color class using a look-up table and based on this, with further processing, objects can be detected.
Of course, the playing field will not stay color coded forever and the rules are moving a small step towards a real soccer scenario every year, so all that will change over the years and with more processing power available in smaller packages we'll likely also see more use of OpenCV in RoboCup humanoids.
All that of course does not mean that OpenCV is "bad", it only means that with the severe constraints of the RoboCup humanoid scenario, custom solutions are currently more successful.
SK - Mon Jan 03, 2011
The German Team Report 2005 has a pretty good explanation of how it was done for the Aibos:
http://www.germanteam.org/
A PDF as well as the source code can be downloaded there.
A similar release for 2010 is available from team B-Human in the Standard Platform League:
http://www.b-human.de/en/publications/
robaldo
is that the real camera fps of Bruno? is it 30 fps in 640x480 resolution?
also i want to know the circle and line detections are performed by OpenCV or not!?
SK
Yes, we're using a SPC-1300 in 640x480 YUV422 mode at 30Hz. As I said, we use a custom color-based grid/scanline based approach, so no OpenCV is used here.
SK
We're using a FitPC2 (Atom 1.6 GHz) for high level cognition stuff.
Just yesterday the teams qualified for the RoboCup Humanoid League were announced, so you can find a lot of information here:
http://www.tzi.de/humanoid/bin/view/Website/Teams2011
(Our TDP also has a nice overview about our robot hard- and software)
- See more at:
http://robosavvy.com/forum/viewtopic.php?t=6879#sthash.KyH7MKMs.dpuf
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