UNIX network programming
The RoboCup Physical Agent Challenge: Goals and Protocols for Phase 1
RoboCup-97: Robot Soccer World Cup I
The RoboCup Synthetic Agent Challenge 97
RoboCup-97: Robot Soccer World Cup I
RoboCup-98: Robot Soccer World Cup II
A Method for Localization by Integration of Imprecise Vision and a Field Model
RoboCup-99: Robot Soccer World Cup III
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Our contribution is composed of two parts: one is development of a cheap multisensor-based mobile robot, the other is development of robust visual tracking system with visual learning capability. To promote robotic soccer research, we need a low cost and portable robot with some sensors and a communication device. This paper describes how to construct a robot system which includes a lightweight and low cost mobile robot with visual, tactile sensors, TCP/IP communication device, and portable PC where Linux is running. In real world, robust color segmentation is a tough problem because color signals are very sensitive to the slight changes of lighting conditions. In order to keep visual tracking systems with color segmentation technique running in real environment, a learning method for acquiring models for image segmentation should be developed. In this paper, we also describe a visual learning method for color image segmentation and object tracking in dynamic environment. An example of the developed soccer robot system and preliminary experimental results are also shown.