Real-Time Adaptive Colour Segmentation for the RoboCup Middle Size League

Towards automatic colour segmentation for robot soccer

“…Another commonly used colour space is HSL or similar hue based colour space [10,11]. These spaces eliminate the scaling of the chrominance components (hue and saturation) with intensity.…”

“…In a similar manner, [18] models each class as a 3D Gaussian. Bayesian statistics have been used by the authors in [10], and a mixture of Gaussians model has been used by the authors in [11] to update the colour model for each class.…”

Towards Model-based Vision Systems for Robot Soccer Teams

“…The HT has rarely been used in robotic systems operating in real time and, when used, it generally needs specific hardware due to its computational complexity. In Robot Soccer, the HT is only used to locate the ball -but not the robots -as described in (Gönner et al, 2005) and (Jonker et al, 2000).…”

“…Other researches uses the shape model of the objects to detect on the image, technique generally used in local vision systems. The research of (Gönner et al, 2005), for instance, detects the ball through it's shape model projected on the image, a circumference, but still uses color-only information to recognize the robots. No matter which technique is used to solve the Robot Soccer computer vision challenge, it must be able to determine position and angle of the robots and the ball with maximum accuracy and minimal processing time possible, because the success of the strategy and control system depends on the information given by the computer vision system.…”

RoboCup Small-Size League: Using Neural Networks to Learn Color Segmentation during Visual Processing

“…These values define a small cube used to group the different pixels into values taken from a discrete set of color classes. The values for these thresholds that are mostly based in the RGB color space may be set in different ways, including manually [1], using decision trees [2], trained by neural networks [3], and also by dynamically adjusting the initial color calibration using automatic color calibration [4,5,6]. Other approaches, including hie rarchical models, can be found in [7,8,9,10].…”