Fast Image Segmentation, Object Recognition and Localization in a RoboCup Scenario

Authors:
Thorsten Bandlow;Michael Klupsch;Robert Hanek;Thorsten Schmitt
Affiliations:
-;-;-;-
Venue:
RoboCup-99: Robot Soccer World Cup III
Year:
2000

Citing 3
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Abstract

This paper presents the vision system of the robot soccer team Agilo RoboCuppers - the RoboCup team of the image understanding group (FG BV) at the Technische Universit盲t M眉nchen.We present a fast and robust color classification method yielding significant regions in the image. The boundaries between adjacent regions are used to localize objects like the ball or other robots on the field. Furthermore for each player the free motion space is determined and its position and orientation on the field is estimated. All this is done completely vision based, without any additional sensors.