Masterarbeit,
A Vision System for RoboCup: Diploma Thesis
Institut für Informatik, Humboldt-Universität zu Berlin, (2004)
Zusammenfassung
This diploma-thesis presents a vision system for robotic soccer which
was developed and implemented by the author and tested on Sony's
four legged robot Aibo. The input for the vision system are images
of the camera and the sensor readings of the robot's head joints,
the output is a set of percepts, where each percept describes the
position of a recognized object in relation to the robot. There
are two main features of the vision system: it is fast and it needs
no manual color calibration. The high processing speed is reached
by an attention based distribution of scan lines over the image
which leads to a reduced number of image pixels that have to be
processed. During the normal operation of the robot the colors are
calibrated by the vision system itself using knowledge about the
environment of the robot. The adaptation of colors is based on statistics
which are computed when recognizing objects. Three different levels
of color representation are used to refine the color calibration
while the robot explores more and more parts of its environment.
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 and is able to recalibrate in appropriate
time.
