Design and Development of an image processing system for humanoid robot team playing soccer in RoboCup KSL league

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תכנון ופיתוח מערכת ראייה ועיבוד תמונה לקבוצת רובוטים המשחקים כדורגל בליגת KSL בתחרות רובוקאפ

תיאור הפרויקט:

RoboCupTM is an international research and education initiative. Its goal is to foster artificial intelligence and robotics research by providing a standard problem where a wide range of technologies can be examined and integrated. 
The focus of the RoboCup activities is competitive soccer. 
In this league, autonomous robots with a human-like body plan and human-like senses play soccer against each other. Dynamic walking, running, and kicking the ball while maintaining balance, visual perception of the ball, other players, and the field, self-localization, and team play are among the many issues investigated in the Humanoid League.

תכולת הפרויקט:

The students will design image processing system for a soccer playing robot team including ball identification, goal identification, geometric features on the field, other robots on the field, the team goal-keeper, distance to various objects, using of edge detection filters, phase and angle conversion filters, color identification and calibration, object movements and more. In addition, the students will build a GUI for robots position identification. 

מקורות:

1. Gonzalez, R.C. and Woods, R.E., Digital Image Processing, Pearson Prentice-Hall, New Jersy, 2008.
2. Budden D., Fenn S., Mendes A, and Chalup S. Evaluation of Color Modelsfor Computer Vision Using Cluster Validation Techniques. Proc. of RoboCup 2012,  pp. 261-272, 2012.
3. Morrison J., Chown E., and Silver B. Implementing a Real-Time Hough Transform on a Mobile Robot. Proc. of RoboCup 2012,  pp. 322-331, 2012.
4. Sven Behnke, Jürgen Müller, Michael Schreiber: Toni: A Soccer Playing Humanoid Robot. In: RoboCup 2005: 59-704.
5. Laowattana D., et al.: Team KMUTT, Team description paper. Robocup 2009, Humanoid League (2009)
6. Lu H., Huang D., Xiong D., Li X., and Zheng Z. A Robust Place Recognition Algorithm Based on Omnidirectional Vision for Mobile Robots. Proc. of RoboCup 2012,  pp. 286-297, 2012.