A Real-Time Auto-Adjusting Vision System for Robotic Soccer
7th International Workshop on RoboCup 2003 (Robot World Cup Soccer
Games and Conferences), 3020, page 214-225. Springer, (2004)Abstract
This paper presents a real-time approach for object recognition in
robotic soccer. The vision system does not need any calibration
and adapts to changing lighting conditions during run time. The
adaptation is based on statistics which are computed when recognizing
objects and leads to a segmentation of the color space to different
color classes. Based on attention, scan lines are distributed over
the image ensuring that all objects of interest intersect with the
number of lines necessary for recognition. The object recognition
checks the scan lines for characteristic edges and for typical groupings
of color classes to find and classify points on the outlines of
objects. These points are used to calculate size and position of
the objects in the image. Experiments on Sony's four-legged robot
Aibo show that the method is able to recognize and distinguish objects
under a wide range of different lighting conditions.