Designing an Designing an omnidirectional vision omnidirectional vision system for a system for a goalkeeper robot goalkeeper robot E. Menegatti, F. Nori, E. Pagello, E. Menegatti, F. Nori, E. Pagello, C. Pellizzari, D. Spagnoli C. Pellizzari, D. Spagnoli Dept. of Dept. of Electronics and Electronics and Informatics Informatics The University of The University of Padua Italy Padua Italy
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Designing an omnidirectional vision system for a goalkeeper robot E. Menegatti, F. Nori, E. Pagello, C. Pellizzari, D. Spagnoli Dept. of Electronics and.
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Designing an Designing an omnidirectional vision omnidirectional vision
system for a goalkeeper system for a goalkeeper robotrobot
E. Menegatti, F. Nori, E. Pagello, E. Menegatti, F. Nori, E. Pagello,
C. Pellizzari, D. SpagnoliC. Pellizzari, D. Spagnoli
Dept. of Dept. of Electronics and Electronics and
InformaticsInformaticsThe University of The University of
Padua ItalyPadua Italy
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
Presentation’s OutlinePresentation’s Outline
The design of an omnidirectional The design of an omnidirectional mirrormirror
How the task commits the designHow the task commits the design Comparison b/t two mirrors Comparison b/t two mirrors
designed for different tasksdesigned for different tasks
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
Related worksRelated works
Bonarini [1999]:Bonarini [1999]:– Conical mirror with spherical Conical mirror with spherical
Mirror ProfileMirror ProfileThe task The task determines the determines the mirror profilemirror profile
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
How to design a mirror...How to design a mirror...
Mirror profile constructionMirror profile construction
Pin Hole
Vertex
Y
X
Pin Hole
Vertex
DMin DMax
X
Y
dMax d1
D1
Pin Hole
Vertex
DMin DMax
X
Y
dMax d1
D1
Pin Hole
Vertex
DMin DMax
X
Y
dMax d1
D1
Pin Hole
Vertex
DMin DMax
X
Y
dMax d1
D1
x
y P
Pin Hole
Vertex
DMin DMax
X
Y
dMax d1
D1
Pin Hole
Vertex
DMin DMax
X
Y
dMax d1
D1
Pin Hole
Vertex
DMin DMax
X
Y
dMax d1
D1
Pin Hole
Vertex
DMin DMax
X
Y
dMax d1
D1
Pin Hole
Vertex
DMin DMax
X
Y
dMax d1
D1
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
SimulationsSimulationsFrom the MatLab output to the PovRay Ray TracerFrom the MatLab output to the PovRay Ray Tracer
Model of the MirrorModel of the Mirror Simulated sequenceSimulated sequence
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
Actual MirrorActual Mirror
Picture of Lisa’s mirrorPicture of Lisa’s mirror Omnidirectional sequenceOmnidirectional sequence
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
Omnidirectional SoftwareOmnidirectional Software
Calculating Ball PositionCalculating Ball Position
Localisation using Localisation using goalpostsgoalposts Goalkeeper BehaviourGoalkeeper Behaviour
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
Calculating Ball PositionCalculating Ball Position
Proportion b/t measurement mirror and Proportion b/t measurement mirror and proximity mirrorproximity mirror
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
Localisation using Localisation using goalpostsgoalposts
Goalpost bottoms
Find goalpost Find goalpost azimuth and azimuth and distancedistance
Re-localisation Re-localisation is dangerousis dangerous
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
Goalkeeper BehaviourGoalkeeper Behaviour
Inactive ballInactive ball Shot in goalShot in goal Dangerous ballDangerous ball
New goalkeeper movingNew goalkeeper moving
Comparison with old movingComparison with old moving
BallPos(t+1)BallPos(t+1)
BallPos(t)BallPos(t)
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
A Goalie's Mirror vs. A Goalie's Mirror vs. An Attacker’s MirrorAn Attacker’s Mirror
GoalkeeperGoalkeeper AttackerAttacker
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
RequirementsRequirements
For Goalie:For Goalie: Locate the ballLocate the ball Identify the Identify the
markersmarkers See the defended See the defended
goalgoal
For Attacker:For Attacker: Locate the ballLocate the ball Identify the Identify the
markersmarkers See both goalsSee both goals Lighter mirrorLighter mirror
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
The attacker’s mirrorThe attacker’s mirror
Play on what you see, i.e. Play on what you see, i.e.
““No absolute localisation in decision making!”No absolute localisation in decision making!”
• LighterLighter
• SmallerSmaller
• Wider FOVWider FOVThe new mirrorThe new mirror
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
Two Mirrors, Two TasksTwo Mirrors, Two Tasks
GoalkeeperGoalkeeper AttackerAttacker
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
ConclusionConclusion
We showed how the task commits the We showed how the task commits the mirror design mirror design
We gave details on a mirror design We gave details on a mirror design procedureprocedure
We gave practical hints on goalkeeper We gave practical hints on goalkeeper behaviourbehaviour
We highlighted the danger of a re-We highlighted the danger of a re-localisation process during a shotlocalisation process during a shot
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
AcknowledgmentsAcknowledgments
We wish to thankWe wish to thank:: A. Bonarini and D. SorrentiA. Bonarini and D. Sorrenti The other members of the The other members of the Artisti Veneti Artisti Veneti
TeamTeam:: M. Barbon, M. Bert, C. M. Barbon, M. Bert, C. Moroni, S. Zaffalon.Moroni, S. Zaffalon.
This research has been supported by: This research has been supported by: The Parallel Computing Project of the Italian The Parallel Computing Project of the Italian
Energy Agency (ENEA) Energy Agency (ENEA) The Special Project on Multi Robot Cooperative The Special Project on Multi Robot Cooperative
Systems of the University of PaduaSystems of the University of Padua
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot