A novel color detection method based on HSL color space for robotic soccer competition

Tsai, Shun-Hung; Tseng, Yu-Hsiang

doi:10.1016/j.camwa.2012.03.073

Cited by 32 publications

(25 citation statements)

References 15 publications

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“…The color components of the target and non-target pixels in the RGB color space are used as features to train the classification algorithm. Tsai et al [7] recognized the locations of the ball and the robot in a robotic soccer competition through a color discrimination method based on HSL space. Perales et al [8] found that suitable spectral optimization could clearly enhance the vision of color deficient by comparing the Rosch-MacAdam color volume for color-deficient observers rendered by three of these singular spectra.…”

Section: Current Color Discrimination Systemmentioning

confidence: 99%

Design and Research of a Color Discrimination Method for Polycrystalline Silicon Cells Based on Laser Detection System

Chen

Wang

2019

Applied Sciences

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In this paper, a method of color discrimination based on sample sensitivity to light wavelength is proposed based on the reflection spectra of a large number of samples and the statistical calculation of the measurement data. A laser detection system is designed to realize the color discrimination. For the color discrimination of polycrystalline silicon cells, the most sensitive wavelength, 434 nm, and the least sensitive wavelength, 645 nm, of polycrystalline silicon cells is obtained according to this method. A laser detection system was built to measure the polycrystalline silicon cells. This system consists of two lasers, optical shutters, collimating beam expanding systems, an optical coaxial system, sample platform, collecting lens, and optical power meter or optical sensor. Two laser beams of different wavelengths are beamed coaxially through the optical coaxial system onto a polycrystalline silicon cell and are reflected or scattered. The reflected or scattered lights are collected through a lens with a high number aperture and received separately by the optical power meter. Then the color value of the polycrystalline silicon cell in this system is characterized by the ratio of light intensity data received. The system measured a large number of previous polycrystalline silicon cells to form the different color categories of polycrystalline silicon cells of this system in the computer database. When a new polycrystalline silicon cell is measured, the color discrimination system can automatically classify the new polycrystalline silicon cell to a certain color category in order to achieve color discrimination.

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Section: Current Color Discrimination Systemmentioning

confidence: 99%

Design and Research of a Color Discrimination Method for Polycrystalline Silicon Cells Based on Laser Detection System

Chen

Wang

2019

Applied Sciences

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“…Pendeteksian objek berwarna sering kali menggunakan filter warna, baik itu filter warna RGB, HSL/HSV, maupun YCbCr [3]- [11]. Filter warna HSL/ HSV banyak digunakan oleh banyak peneliti khususnya di bidang object recognition [3], machine vision [11] maupun robot vision [8], [10]. Penggabungan pendeteksian filter warna HSL dengan partikel filter sebagai metode untuk pelacakan objeknya berhasil memisahkan citra wajah dari citra latar dengan mengatur nilai filter warna HSL [3].…”

Section: Pendahuluanunclassified

Sistem Inspeksi Kecacatan pada Kaleng Menggunakan Filter Warna HSL dan Template Matching

Sugandi¹,

Dewi

2018

khif

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Dalam industri makanan dan minuman dengan kemasan kaleng, pengecekan atau inspeksi kecacatan kaleng merupakan bagian penting dalam menjaga kualitas sebuah produk. Inspeksi tersebut sebagian masih menggunakan operator manual yang bergantung pada penglihatan para pekerja dengan segala keterbatasannya. Untuk menanggulangi masalah tersebut, artikel ini mengusulkan proses inspeksi kecacatan menggunakan filter warna HSL dan template matching berbasis contour analysis yang dilakukan secara otomatis tanpa bantuan operator. Proses inspeksi diawali dengan pengambilan citra RGB oleh kamera. Citra RGB tersebut kemudian dikonversi ke citra aras keabuan (gray level). Untuk dapat mendeteksi kecacatan, penulis memakai filter luminance dari ruang warna HSL. Proses template matching diterapkan pada masing-masing citra dengan cara membandingkan contour citra template sebagai contour citra referensi dengan contour citra uji. Kemasan kaleng yang digunakan sebagai template mempunyai diameter 4 cm. Dengan menggunakan kriteria uji jarak masing-masing pixel pada tiap lingkaran kaleng dengan lingkaran pada kaleng template, kaleng diklasifikasikan menjadi dua kategori yaitu kaleng OK (Good) atau reject. Hasil pengujian menunjukkan, dengan menerapkan nilai threshold sebesar 4 cm, nilai RMS untuk objek kategori OK adalah 0,59. Sementara untuk objek kategori reject didapatkan nilai RMS sebesar 19,59; 5,05 dan 15, 05 berturut-turut untuk objek reject karena diameter tidak beraturan, objek reject dengan pembuka kaleng terbuka dan objek reject tanpa pembuka kaleng.

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“…La pelota debe ser de color naranja, como en todas las ligas. Los equipos tendrán 5 robots en la liga mediana y 11 robots en la liga grande, variando igualmente el tamaño del campo de juego, dependiendo de la correspondiente liga [25].…”

Section: Liga Mirosotunclassified

Fútbol de robots: orígenes, federaciones, ligas y horizontes de investigación

Guarnizo

2016

Ingenium Rev. fac. ing.

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ResumenEn las últimas décadas el fútbol de robots ha adquirido importancia entre investigadores relacionados en el campo de la robótica, ya que ha permitido encontrar un entorno adecuado para la investigación en temas como visión artificial, locomoción, localización y navegación, así como coordinación de robots, entre otros. A raíz de esto, distintos grupos de investigación en diferentes universidades alrededor del mundo han creado sus propios equipos de fútbol de robots, con el fin de participar en distintos torneos con diferentes ligas, compitiendo y permitiendo validar los resultados obtenidos en sus investigaciones en áreas relacionadas. En el presente artículo se realiza una revisión sobre los orígenes del fútbol de robots y sus diferentes ligas, así como una presentación de distintos temas de investigación relacionados en este campo. Palabras claveFIRA, fútbol de robots, Robocopa, robótica, sistemas multiagentes. Investigación AbstractIn previous decades, robot soccer has become important for robotic research, due to provide of an adequate environment for research in areas such as artificial vision, locomotion, localization and navigation, as well as multi-robot systems, and others. Hence, different groups of research in several universities around the world have been working on robot soccer teams, to competing against other robot soccer teams in different leagues of robot soccer and, in this way, to validate the results achieved acquired from their research in related areas. In this paper is presented a review about robot soccer, showing a brief overview about its origin and its leagues, but also a presentation about different topics on research related in this field.

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A novel color detection method based on HSL color space for robotic soccer competition

Cited by 32 publications

References 15 publications

Design and Research of a Color Discrimination Method for Polycrystalline Silicon Cells Based on Laser Detection System

Design and Research of a Color Discrimination Method for Polycrystalline Silicon Cells Based on Laser Detection System

Sistem Inspeksi Kecacatan pada Kaleng Menggunakan Filter Warna HSL dan Template Matching

Fútbol de robots: orígenes, federaciones, ligas y horizontes de investigación

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