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Color Classification and Object Recognition for Robot Soccer Under Variable Illumination InTech
Nathan Lovell; Vladimir Estivill-Castro.
We have discussed an approach to object recognition inspired on the vision analysis pipeline. However, the linear organization of the pipeline is a model that propagates the decision of each filter, and therefore, it propagates mistakes. It is natural that after one pass over the pipeline, feedback from the result to one or several of the filters would improve the overall result. For example, finding a large circular orange ball may facilitate finding yellow goals and red AIBOs in the image since now we have information of where the ball is. Also, we have illustrated that not every pixel in the image most be processed by the entire pipeline and thus we can avoid processing some regions of the image. These remarks suggest two avenues for expanding our work....
Tipo: 4 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/color_classification_and_object_recognition_for_robot_soccer_under_variable_illumination
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Non-Monotonic Reasoning on Board a Sony AIBO InTech
David Billington; Vladimir Estivill-Castro; Rene Hexel; Andrew Rock.
One of the most satisfying aspects of our implementation is that it has proven efficient enough to be running on board a Sony AIBO while in competition in the soccer 4-legged league or in RoboCup@Home. Table 1 shows the CPU-timings on board an ERS-7 running our C++ implementation with three different models and two situations. It may be surprising that while the robot was in the playing state, chasing the ball and executing kicks, the execution is faster than while standing as a goalie. However, the standing situations have usually on average 2 landmarks per frame. But while playing, frames with 2 objects in sight are less frequent. In all cases, the inference engine is executed six times per frame, to verify if each of the landmarks is consistent. Model...
Tipo: 3 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/non-monotonic_reasoning_on_board_a_sony_aibo
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