Visual Perception System of EROS Humanoid Robot Soccer

Aulia Khilmi Rizgi, Anhar Risnumawan, Fernando Ardila, Edi Sutoyo, Ryan Satria Wijaya, Ilham Fakhrul Arifin, Martianda Erste Anggraeni and Tutut Herawan
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Aulia Khilmi Rizgi: Politeknik Elektronika Negeri Surabaya, Indonesia
Anhar Risnumawan: Politeknik Elektronika Negeri Surabaya, Indonesia
Fernando Ardila: Politeknik Elektronika Negeri Surabaya, Indonesia
Edi Sutoyo: Telkom University, Indonesia
Ryan Satria Wijaya: Politeknik Elektronika Negeri Surabaya, Indonesia
Ilham Fakhrul Arifin: Politeknik Elektronika Negeri Surabaya, Indonesia
Martianda Erste Anggraeni: Politeknik Elektronika Negeri Surabaya, Indonesia
Tutut Herawan: Ambarrukmo Tourism Institute, Indonesia & AMCS Research Center, Indonesia

International Journal of Intelligent Information Technologies (IJIIT), 2020, vol. 16, issue 4, 68-86

Abstract: In this paper, a humanoid robot soccer perception system, consisting of a ball, field detection, and localization, is developed in order to deal with the new rules in RoboCup. Color segmentation and image morphology are improved together with a more sophisticated machine learning algorithm to detect a soccer ball robustly. Those algorithms are still favorable due to its real-time running in most of the embedded platform. For localization, the field is divided into pre-deðned grids and employing k-NN (k-nearest neighbor) to determine the robot location in the grids. Pre-defined grids are used to reduce computation due to matching with a map. Experiment results show that the developed system relatively well for adapting to the new rules update.

Date: 2020
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Persistent link: https://EconPapers.repec.org/RePEc:igg:jiit00:v:16:y:2020:i:4:p:68-86

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