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The NuBot soccer robot equipped with the hybrid vision system constructed with omnidirectional vision and stereo vision. Typical images acquired by each vision and the ball recognition results are also shown.
Source publication
Effective object motion estimation is significant to improve the performance of soccer robots in RoboCup Middle Size League. In this paper, a hybrid vision system is constructed by combining omnidirectional vision and stereo vision for ball recognition and motion estimation in three-dimensional (3D) space. When the ball is located on the ground fie...
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Citations
... With the proposed method, only a little number of candidate ball regions need to be fitted. Lastly, to intercept the ball for the goalie, the 3D trajectory of the ball regarded as a parabola curve is estimated and the touchdown-point in 3D space is also predicted in the 3D ball processing node, using a similar algorithm as in [36]. In total, the node takes about 30-40 ms to process a frame of RGB-D data, therefore can meet the real-time requirement of highly dynamic RoboCup MSL games. ...
The objective of this book is to provide the reader with a comprehensive coverage on the Robot Operating Systems (ROS) and latest related systems, which is currently considered as the main development framework for robotics applications. The book includes twenty-seven chapters organized into eight parts. Part 1 presents the basics and foundations of ROS. In Part 2, four chapters deal with navigation, motion and planning. Part 3 provides four examples of service and experimental robots. Part 4 deals with real-world deployment of applications. Part 5 presents signal-processing tools for perception and sensing. Part 6 provides software engineering methodologies to design complex software with ROS. Simulations frameworks are presented in Part 7. Finally, Part 8 presents advanced tools and frameworks for ROS including multi-master extension, network introspection, controllers and cognitive systems. This book will be a valuable companion for ROS users and developers to learn more ROS capabilities and features.
... With the proposed method, only a little number of candidate ball regions need to be fitted. Lastly, to intercept the ball for the goalie, the 3D trajectory of the ball regarded as a parabola curve is estimated and the touchdown-point in 3D space is also predicted in the 3D ball processing node, using a similar algorithm as in [36]. In total, the node takes ...
This chapter presents the lesson learned during constructing the software system and simulation environment for our RoboCup Middle Size League (MSL) robots. The software is built based on ROS, thus the advantages of ROS such as modularity, portability and expansibility are inherited. The tools provided by ROS, such as RVIZ, rosbag, rqt_graph just to name a few, can improve the efficiency of development. Furthermore, the standard communication mechanism (topic and service) and software organization method (package and meta-package) introduces the opportunity for sharing codes among the RoboCup MSL community, which is a fundamental issue to forming hybrid teams. As known, to evaluate new algorithms for multi-robot collaboration on real robots is expensive, which can be done in a proper simulation environment. Particularly, it would be nice if the ROS based software can also be applied to control the simulated robots. As a result, the open source simulator Gazebo is selected, which offers a convenient interface with ROS. In this case, a Gazebo based simulation environment is constructed to visualize the robots and simulate their motions. Furthermore, the simulation has also been used to evaluate new multi-robot collaboration algorithms for our NuBot RoboCup MSL robot team.
... Then we can estimate the position of the ball on the ground according to the pinhole camera model. The 3D information of the ball is of great significance for the goalie robot to intercept the lob ball ( Lu et al, 2014). However, the front vision system and the omnidirectional vision system cannot obtain depth information directly. ...
... With the proposed method, only small amounts of candidate ball regions need to be fitted. Lastly, to intercept the ball for the goalie, the 3D trajectory of the ball regarded as the parabola is estimated and the touchdown-point in 3D space is also predicted ( Lu et al, 2014). About the real-time performance, it takes about 30-40ms to process a frame of perspective image and RGB-D data in the FrontVision node and the Kinect node respectively, so these two nodes meet the real-time requirement of highly dynamic MSL games. ...
Purpose
– The purpose of this paper is to design intelligent robots operating in such dynamic environments like the RoboCup Middle-Size League (MSL). In the RoboCup MSL, two teams of five autonomous robots play on an 18- × 12-m field. Equipped with sensors and on-board computers, each robot should be able to perceive the environment, make decision and control itself to play the soccer game autonomously.
Design/methodology/approach
– This paper presents the design of our soccer robots, participating in RoboCup MSL. The mechanical platform, electrical architecture and software framework are discussed separately. The mechanical platform is designed modularly, so easy maintainability is achieved; the electronic architecture is built on industrial standards using PC-based control technique, which results in high robustness and reliability during the intensive and fierce MSL games; the software is developed upon the open-source Robot Operating System (ROS); thus, the advantages of ROS such as modularity, portability and expansibility are inherited.
Findings
– Based on this paper and the open-source hardware and software, the MSL robots can be re-developed easily to participate in the RoboCup MSL. The robots can also be used in other research and education fields, especially for multi-robot systems and distributed artificial intelligence. Furthermore, the main designing ideas proposed in the paper, i.e. using a modular mechanical structure, an industrial electronic system and ROS-based software, provide a common solution for designing general intelligent robots.
Originality/value
– The methodology of the intelligent robot design for highly competitive and dynamic RoboCup MSL environments is proposed.
Object detection and localization is a paramount important and challenging task in RoboCup MSL (Middle Size League). It has a strong constraint on real-time, as both the robot and obstacles (also robots) are moving quickly. In this paper, a real-time object segmentation approach is proposed, based on a RGB-D camera in which only the range information has been used. The method has four main steps, e.g., point cloud filtering, background points removing, clustering and object localization. Experimental results show that the proposed algorithm can effectively detect and segment objects in 3D space in real-time.
