A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
Artificial intelligence: a modern approach
Artificial intelligence: a modern approach
Computer Vision: A Modern Approach
Computer Vision: A Modern Approach
FutBot: A Vision System for Robotic Soccer
IBERAMIA-SBIA '00 Proceedings of the International Joint Conference, 7th Ibero-American Conference on AI: Advances in Artificial Intelligence
Fast and Accurate Robot Vision for Vision Based Motion
RoboCup 2000: Robot Soccer World Cup IV
Algorithm for computer control of a digital plotter
IBM Systems Journal
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Robot Soccer is a challenging research domain for Artificial Intelligence, which was proposed in order to provide a long-term problem in which researchers can investigate the construction of systems involving multiple agents working together in a dynamic, uncertain and probabilistic environment, to achieve a specific goal. This work focuses on the design and implementation of a fast and robust computer vision system for a team of small size robot soccer players. The proposed system combines artificial intelligence and computer vision techniques to locate the mobile robots and the ball, based on global vision images. To increase system performance, this work proposes a new approach to interpret the space created by a well-known computer vision technique called Hough Transform, as well as a fast object recognition method based on constraint satisfaction techniques. The system was implemented entirely in software using an off-the-shelf frame grabber. Experiments using real time image capture allows to conclude that the implemented system are efficient and robust to noises and lighting variation, being capable of locating all objects in each frame, computing their position and orientation in less than 20 milliseconds.