Designing an omnidirectional vision system for a goalkeeper robot

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Designing an omnidirectional vision system for a goalkeeper robot. E. Menegatti, F. Nori, E. Pagello, C. Pellizzari, D. Spagnoli. Dept. of Electronics and Informatics. The University of Padua Italy. Presentations Outline. The design of an omnidirectional mirror - PowerPoint PPT Presentation

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Designing an omnidirectional vision system for a goalkeeper robotE. Menegatti, F. Nori, E. Pagello, C. Pellizzari, D. SpagnoliDept. of Electronics and InformaticsThe University of Padua ItalyE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotPresentations OutlineThe design of an omnidirectional mirrorHow the task commits the designComparison b/t two mirrors designed for different tasksE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotRelated worksBonarini [1999]:Conical mirror with spherical vertexHicks [1999]:Linear mirrorNumerically solves differential equationSorrenti [2000]:Multi-part mirrorIsometric mirrorGeometrically solves differential equationE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotMirror for a goalkeeperThe task of the robot must determine the mirror profileThe goalies tasks:Self-localizeLocate the ballIntercept the ball Requirements:Good accuracy close to the robotLarge field of viewE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotDifferent Mirror ProfilesProfileProsConsConical No body Const. Rel. Error Close is small Small FOVConical with Spherical Vertex Close is big Const. Rel. Error Body Small FOVIsometric Const. Abs. error Preserve size Body Big Rel. Error E. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotThe mirror we designed...Three parts:Measurement MirrorMarker MirrorProximity MirrorMirror ProfileThe task determines the mirror profileE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotHow to design a mirror...Mirror profile constructionE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotSimulationsFrom the MatLab output to the PovRay Ray TracerModel of the MirrorSimulated sequenceE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotActual MirrorPicture of Lisas mirrorOmnidirectional sequenceE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotOmnidirectional SoftwareCalculating Ball Position Localisation using goalposts Goalkeeper BehaviourE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotCalculating Ball PositionProportion b/t measurement mirror and proximity mirrorE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotLocalisation using goalpostsFind goalpost azimuth and distanceRe-localisation is dangerousGoalpost bottomsE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotGoalkeeper BehaviourInactive ballShot in goalDangerous ball New goalkeeper moving Comparison with old movingE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotA Goalie's Mirror vs. An Attackers MirrorGoalkeeperAttackerE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotRequirementsFor Goalie:Locate the ballIdentify the markersSee the defended goalFor Attacker:Locate the ballIdentify the markersSee both goalsLighter mirrorE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotThe attackers mirrorPlay on what you see, i.e. No absolute localisation in decision making!LighterSmallerWider FOVThe new mirrorE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotTwo Mirrors, Two TasksGoalkeeperAttackerE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotConclusionWe showed how the task commits the mirror design We gave details on a mirror design procedureWe gave practical hints on goalkeeper behaviourWe highlighted the danger of a re-localisation process during a shotE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotAcknowledgmentsWe wish to thank:A. Bonarini and D. SorrentiThe other members of the Artisti Veneti Team: M. Barbon, M. Bert, C. Moroni, S. Zaffalon.This research has been supported by: The Parallel Computing Project of the Italian Energy Agency (ENEA) The Special Project on Multi Robot Cooperative Systems of the University of PaduaE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotThe Heterogeneous TeamE. Menegatti et al. - Omnidirectional Vision for Goalkeeper RobotVisione omnidirezionaleDott. E. Menegatti

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