A Survey on Visual Perception for RoboCup MSL Soccer Robots

Li, Xun; Lu, Huimin; Xiong, Dan; Zhang, Hui; Zhang, Zhiqiang

doi:10.5772/55718

Cited by 12 publications

(7 citation statements)

References 57 publications

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“…Concerning algorithms for robot selflocalization, they often rely on cameras to detect landmarks and use them as references for global positioning. In robot soccer, the most commonly used landmarks are goalposts and field lines, especially corners and intersections [23]. Ref.…”

Section: Related Workmentioning

confidence: 99%

“…The main contribution of this paper is to propose a cooperative self-localization algorithm in an environment with communication restrictions, where the relative measurements are taken with cameras and DOA sensors as defined in [16]. Differently from [12], [15], those measurements do not require clock synchronization between the agents, although visionbased localization imposes its own challenges, such as the ambiguity the environment may present [9] and the fact the robots' vision can be blocked by other robots [23]. The way the camera and other sensor data are preprocessed to obtain useful information, either from landmarks or other teammates, is not in the scope of this paper.…”

Section: Contributions and Paper Outlinementioning

confidence: 99%

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Cooperative Localization for Multiple Soccer Agents Using Factor Graphs and Sequential Monte Carlo

et al. 2020

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This paper addresses the cooperative localization problem for a multiagent system in the framework of belief propagation. In particular, we consider the RoboCup 3D Soccer Simulation scenario, in which the networked agents are able to obtain simulated measurements of the distance and bearing to both known landmarks and teammates as well as the direction of arrival (DOA) of messages received from allies around the field. There are, however, severe communication restrictions between the agents, which limit the size and periodicity of the information that can be exchanged between them. We factorize the joint probability density function of the state of the robots conditioned on all measurements in the network in order to derive the corresponding factor graph representation of the cooperative localization problem. Then we apply the sum-product-algorithm (SPA) and introduce suitable implementations thereof using hybrid Gaussian-Mixture Model (GMM) / Sequential Monte Carlo (SMC) representations of the individual messages that are passed at each network location. Simulated results show that the cooperative estimates for position and orientation converge faster and present smaller errors when compared to the non-cooperative estimates in situations where agents do not observe landmarks for a long period.

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Section: Related Workmentioning

confidence: 99%

Section: Contributions and Paper Outlinementioning

confidence: 99%

Cooperative Localization for Multiple Soccer Agents Using Factor Graphs and Sequential Monte Carlo

et al. 2020

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“…Durante este torneo se realizan otros eventos como son RoboCup Junior, un proyecto orientado hacia la enseñan-za de la robótica en niños y adolescentes, Robocup Home, el cual propone retos orientados a la robótica en el hogar, y Robocup Rescue, el cual presenta desafíos que deben ser solucionados, con referencia al uso de robots para la atención de desastres [33].…”

Section: Ligas Pertenecientes a Robocupunclassified

“…En [49] se presenta una revisión del estado del arte sobre la percepción visual aplicada a la Middle Sized League de la Robocopa, incluyendo el diseño y la calibración de los sistemas de visión, el reconocimiento de objetos, estimación de movimiento de objetos, autolocalización de robots a través de visión artificial, y fusión sensorial cooperativa. Una revisión general sobre la visión artificial aplicada al fútbol de robots es presentada en [50], donde inicialmente se realiza un recuento sobre los sistemas de cámara utilizados en las ligas tanto de FIRA(The Federation of International Robot-soccer Association) como de la Robocopa, tanto de percepción local como global.…”

Section: Investigaciónunclassified

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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“…Moreover, these methods were not shift invariant. In order to improve the wavelet‐based methods, Ali et al and Xu et al fused CT and MR images using curvelet transform. The curvelet‐based methods represented curves smoothly as compared to wavelet‐based methods.…”

Section: Introductionmentioning

confidence: 99%

An improved multimodal medical image fusion scheme based on hybrid combination of nonsubsampled contourlet transform and stationary wavelet transform

Ramlal

Sachdeva

Ahuja

et al. 2019

Int J Imaging Syst Tech

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This research proposes an improved hybrid fusion scheme for non‐subsampled contourlet transform (NSCT) and stationary wavelet transform (SWT). Initially, the source images are decomposed into different sub‐bands using NSCT. The locally weighted sum of square of the coefficients based fusion rule with consistency verification is used to fuse the detailed coefficients of NSCT. The SWT is employed to decompose approximation coefficients of NSCT into different sub‐bands. The entropy of square of the coefficients and weighted sum‐modified Laplacian is employed as the fusion rules with SWT. The final output is obtained using inverse NSCT. The proposed research is compared with existing fusion schemes visually and quantitatively. From the visual analysis, it is observed that the proposed scheme retained important complementary information of source images in a better way. From the quantitative comparison, it is seen that this scheme gave improved edge information, clarity, contrast, texture, and brightness in the fused image.

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A Survey on Visual Perception for RoboCup MSL Soccer Robots

Cited by 12 publications

References 57 publications

Cooperative Localization for Multiple Soccer Agents Using Factor Graphs and Sequential Monte Carlo

Cooperative Localization for Multiple Soccer Agents Using Factor Graphs and Sequential Monte Carlo

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

An improved multimodal medical image fusion scheme based on hybrid combination of nonsubsampled contourlet transform and stationary wavelet transform

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