A portable ground-truth system based on a laser sensor
Robot Soccer World Cup XV
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In 2004, the playing field size of the small sized league was significantly increased, posing new challenges for all teams. This paper describes extensions to our current video server software (Doraemon) to deal with these new challenges. It shows that a camera with a side view is a workable alternative to the more expensive approach of using multiple cameras. The paper discusses the camera calibration method used in Doraemon as well as an investigation into some common two–dimensional interpolation methods, as well a novel average gradient method. It also proves that (ignoring occluded parts of the playing field) it is possible to construct a realistic top down view of the playing field with a camera that only has a side view of the field.