Tuesday, August 14, 2012

Soccer Robots

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Soccer robots must have information about themselves and their environments that is sufficient to and accurate enough for the robots to complete their tasks competently. Therefore, the information received must be reliable and certain. This information depends largely on the images captured by the camera sent to the robots. Hence, machine vision techniques form an important integral of the robotic soccer system.

A precise and fast global vision system has to be designed for robot control and navigation in an unknown, dynamically changing system. The following requirements have to be accomplished during the course of the project:

- Computational Efficiency

- High Reliability

- Good Precision

- Robust to noise, changing of lighting and different colour schemes

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This project involves developing a fast and robust vision processing system to effectively track the moving robots’ and ball’s locations, velocities and orientations. The project may incorporate learning algorithms for training the system in the aim of achieving a robust and intelligent vision system.

This report reviews the workings of phase 1 and phase of the project. The first section summarizes the literature survey done and suggestions of a robust real time processing technique suitable for use.

The second section describes the work accomplished to date. This section presents the workings of a GUI application with the use of the Matrox Meteor II frame grabber, Intel OpenCV .0 and Microsoft DirectX 8.0. The choice of using them will be illustrated. Finally, a proposed future work plan is included which includes the classification of colours and the design of the colour patches on the robots.



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