Robust and efficient object recognition for a humanoid soccer robot

Alexander Härtl, Ubbo E Visser, Thomas Röfer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

Static color classification as a first processing step of an object recognition system is still the de facto standard in the RoboCup Standard Platform League (SPL). Despite its efficiency, this approach lacks robustness with regard to changing illumination. We propose a new object recognition system where objects are found based on color similarities. Our experiments with line, goal, and ball recognition show that the new system is real-time capable on a contemporary NAO (version 3.2 and above). We show that the detection rate is comparable to color-table-based object recognition under static lighting conditions and substantially better under changing illumination.

Original languageEnglish (US)
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer Verlag
Pages396-407
Number of pages12
Volume8371 LNAI
ISBN (Print)9783662444672
DOIs
StatePublished - 2014
Event17th RoboCup International Symposium, RoboCup 2013 - Eindhoven, Netherlands
Duration: Jul 1 2013Jul 1 2013

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8371 LNAI
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other17th RoboCup International Symposium, RoboCup 2013
CountryNetherlands
CityEindhoven
Period7/1/137/1/13

Fingerprint

Humanoid Robot
Object recognition
Object Recognition
Lighting
Robots
Color
Illumination
Real time systems
Table
Ball
Robustness
Real-time
Line
Processing
Experiment
Experiments
Standards

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

Cite this

Härtl, A., Visser, U. E., & Röfer, T. (2014). Robust and efficient object recognition for a humanoid soccer robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 8371 LNAI, pp. 396-407). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8371 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-662-44468-9_35

Robust and efficient object recognition for a humanoid soccer robot. / Härtl, Alexander; Visser, Ubbo E; Röfer, Thomas.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 8371 LNAI Springer Verlag, 2014. p. 396-407 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8371 LNAI).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Härtl, A, Visser, UE & Röfer, T 2014, Robust and efficient object recognition for a humanoid soccer robot. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 8371 LNAI, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 8371 LNAI, Springer Verlag, pp. 396-407, 17th RoboCup International Symposium, RoboCup 2013, Eindhoven, Netherlands, 7/1/13. https://doi.org/10.1007/978-3-662-44468-9_35
Härtl A, Visser UE, Röfer T. Robust and efficient object recognition for a humanoid soccer robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 8371 LNAI. Springer Verlag. 2014. p. 396-407. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-662-44468-9_35
Härtl, Alexander ; Visser, Ubbo E ; Röfer, Thomas. / Robust and efficient object recognition for a humanoid soccer robot. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 8371 LNAI Springer Verlag, 2014. pp. 396-407 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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