Artikel in einem Konferenzbericht,
Using Layered Color Precision for a Self-Calibrating Vision System
8th International Workshop on RoboCup 2004 (Robot World Cup Soccer Games and Conferences), 3276, Seite 209-220. Springer, (2005)
Zusammenfassung
This paper presents a vision system for robotic soccer which was 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 are the positions of all recognized objects
in relation to the robot. The object recognition is based on the
colors of the objects and uses a color look-up table. The vision
system creates the color look-up table on its own during a soccer
game. Thus no prerun calibration is needed and the robot can cope
with inhomogeneous or changing light on the soccer field. It is
shown, how different layers of color representation can be used
to refine the results of color classification. However, the self-calibrated
color look-up table is not as accurate as a hand-made. Together
with the introduced object recognition which is very robust relating
to the quality of the color table, the self-calibrating vision works
very well. This robustness is achieved using the detection of edges
on scan lines.
