[PPT] - HistogramBased Visual Object Recognition for the 2007 FourLegged PowerPoint Presentation

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HistogramBased Visual Object Recognition for the 2007 FourLegged RoboCup League

Souzana Volioti and Michail G. Lagoudakis

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Outline

RoboCup Visual Object Recognition HistogramBased Object Recognition Results Conclusion

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Outline

RoboCup

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Visual Object Recognition HistogramBased Object Recognition Results Conclusion

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RoboCup

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Extensions

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Vision

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Where do we stand today?

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RoboCup 2007 Soccer Leagues

Simulation League

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SmallSize Robot League

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MiddleSize Robot League

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FourLegged Robot League

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Humanoid Robot League

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Why RoboCup?

Research Challenges

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Applicability

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RoboCup Participation

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Team

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2007 Members

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Team Κουρήτες (Kouretes)

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Where the team stands ...

Participation

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Distinctions

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Website

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FourLegged League

Characteristics

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History

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Future

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Sony AIBO ERS7 Robots

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Sony AIBO ERS7 Robots

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2007 FourLegged League Field

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2007 FourLegged League Game

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Kouretes in Action

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FourLegged League Challenges

Motion

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Vision

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Localization

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Behavior

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Outline

RoboCup Visual Object Recognition

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HistogramBased Object Recognition Results Conclusion

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Image Preprocessing

Raw Camera Image

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Image Correction

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Color Segmentation

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Problem Statement

Recognition

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Estimation

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Transformation

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Field Objects: Goals

Goals

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Field Objects: Beacons

Beacons

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Field Objects: Ball

Ball

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Outline

RoboCup Visual Object Recognition HistogramBased Object Recognition

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Related Work Results

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Basic Operations

Construction of Horizon Line

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Construction of Scan Lines

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Identification of Large Parts

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Construction of Density Histograms

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Estimation of Distance and Angle

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Example: SkyBlue Goal Scanning

Raw Image Horizon/Scan Lines Large Parts/Histograms Indications/Perception

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Goal Recognition (1)

Construction of Horizontal Scan Lines

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Goal Recognition (2)

Identification of Horizontal Large Parts

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Goal Recognition (3)

Horizontal histogram

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Goal Recognition (4)

Vertical scanning, large parts, histograms

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Goal Recognition (5)

Scanning constraint

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Filtering

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Confidence filter

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Ratio filter

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Distance filter

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Beacon Recognition (1)

Horizontal scanning, large parts, histograms

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Beacon Recognition (2)

Vertical scanning, large parts, histograms

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Beacon Recognition (3)

Scanning constraint

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Filtering

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Proximity filter

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Ratio filter

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Distance filter

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Ball Recognition (1)

Horizontal scanning, large parts, histogram

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Ball Recognition (2)

Vertical scanning, large parts, histogram

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Ball Recognition (3)

Ball Center and Radius

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Ball Recognition (4)

Scanning constraint

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Filtering

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Horizon filter

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Distance filter

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Outline

RoboCup Visual Object Recognition HistogramBased Object Recognition Results

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Conclusion

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Evaluation Methodology

Evaluation

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Competitors

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Comparison

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Evaluation Results

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Perception Differences

GT 2004 SPQR 2006 Proposed

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Perception Differences

GT 2004 SPQR 2006 Proposed

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Outline

RoboCup Visual Object Recognition HistogramBased Object Recognition Results Conclusion

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Conclusion

Summary

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Application

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Lessons

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Acknowledgements

Technical University of Crete, Chania

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Parish of Panagitsa, Kounoupidiana

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European Commission

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Thank you!