An Omnidirectional Vision System that finds and tracks color edges and blobs Felix v. Hundelshausen Sven Behnke Raúl Rojas.
Post on 18-Dec-2015
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An OmnidirectionalVision System
that finds and trackscolor edges and blobs
Felix v. HundelshausenSven BehnkeRaúl Rojas
An OmnidirectionalVision System
that finds and tracks
color edgesand blobs
Felix v. HundelshausenSven BehnkeRaúl Rojas
SmallSize-TeamFU-Fighters
Omnidirectional Camera
concave parabolic mirrorPAL cameraanalog video transmission to
external PC
Color Segmentationcolor classification by look-up-table
Search for color-transitions along lines
Radial Searchand Hough Transformationsend rays from center to all
directionsdetect color transitions field->wallaccumulate evidence for walls
Initial Localizationof the Robot and the BallDirect Robot Localization
find yellow and blue goal compute local world coordinates compute global world coordinates
Localization using Evidence Aggregation maintain grid that
accumulates hints find goals and use
distance to draw circles find most significant wall and draw lines
Initial Ball Search find most significant cluster of orange don’t confuse with robot markers
Tracking Objectskey assumption: World changes slowly.predict the appearance of the next frameinspect restricted areas of the image
World Model lines with color transitions (e.g. field->wall) color blobs (e.g. ball, goals, obstacles)
project the model into the next frameuse inverse distance function
search for color transitions perpendicular to lines (tracking grid)
use found transitions to move model
search for blobs in small windows
full resolution, full frame rate trackinghas been used to control behavior
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