Abstract
In the RoboCup F180 Small Size League, a global vision system using multiple cameras has been used to capture the whole field view. In the overlapping area of two cameras’ views, a process to merge information from both cameras is needed. To avoid this complex process and rule-based approach, we propose a mosaic-based global vision system which produces high resolution images from multiple cameras. Three mosaic images, which take into account the height of each object such as our robots, opponent robots, and the ball on the field, are generated by pseudo corresponding points. Our system archives a position accuracy of better than 14.2 mm(mean: 4 mm) over a 4 × 5.5 m field.
Chapter PDF
Similar content being viewed by others
References
Ball, D., Wyeth, G., Nuske, S.: A Global Vision System for a Robot Soccer Team. In: Proceedings of the 2004 Australasian Conference on Robotics and Automation (ACRA), Canberra, Australia (2004)
Egorova, A., Gloye, A., Goktekin, C., Liers, A., Luft, M., Rojas, R., Simon, M., Tenchio, O., Wiesel, F.: FU-Fighters Small Size 2004. In: RoboCup 2004 Symposium, Small Size League Team Description (2004)
Kiat, N.B.: LuckyStar 2004. In: RoboCup 2004 Symposium, Small Size League Team Description (2004)
Ball, D., Wyeth, G.: UQ RoboRoos 2004: Getting Smarter. In: RoboCup 2004 Symposium, Small Size League Team Description (2004)
Tsai, R.Y.: A verstile Camera Calibration Technique for High-Accuracy 3D Machine Vision Metrology Using Off-the Shelf TV Cameras and Lenses. IEEE Journal of Robotics and Automation RA-3(4), 323–344 (1987)
Zhang, Z.: A flexible new technique for camera calibration. IEEE Transactions on Pattern Analysis and Machine Intelligence 22(11), 1330–1334 (2000)
Szeliski, R.: Image mosaicing for tele-reality applications. In: Proc. IEEE Workshop on Applications of Computer Vision, pp. 44–53 (1994)
Hartley, A., Zisserman, A.: Multiple View Geometry in Computer Vision. Cambridge University Press, Cambridge (2000)
Hibino, S., Kodama, Y., Nagasaka, Y., Takahashi, T., Murakami, K., Naruse, T.: Fast Image Processing and Flexible Path Generation System for RoboCup Small Size League. In: Kaminka, G.A., Lima, P.U., Rojas, R. (eds.) RoboCup 2002. LNCS, vol. 2752, pp. 53–64. Springer, Heidelberg (2003)
Bruce, J., Balch, T., Veloso, M.: Fast and Inexpensive Color Image Segmentation for Interactive Robots. In: Proceedings of IROS 2000, Japan (October 2000)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Hayashi, Y., Tohyama, S., Fujiyoshi, H. (2006). Mosaic-Based Global Vision System for Small Size Robot League. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds) RoboCup 2005: Robot Soccer World Cup IX. RoboCup 2005. Lecture Notes in Computer Science(), vol 4020. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11780519_58
Download citation
DOI: https://doi.org/10.1007/11780519_58
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-35437-6
Online ISBN: 978-3-540-35438-3
eBook Packages: Computer ScienceComputer Science (R0)