An Omnidirectional Vision System that finds and tracks color edges and blobs Felix v. Hundelshausen Sven Behnke Raúl Rojas

An Omnidirectional Vision System that finds and tracks color edges and blobs

Felix v. Hundelshausen Sven Behnke Raúl Rojas SmallSize-Team FU-Fighters

Omnidirectional Camera zconcave parabolic mirror zPAL camera zanalog video transmission to external PC

Color Segmentation zcolor classification by look-up-table zSearch for color-transitions along lines

Radial Search and Hough Transformation zsend rays from center to all directions zdetect color transitions field->wall zaccumulate evidence for walls

Initial Localization of the Robot and the Ball zDirect Robot Localization yfind yellow and blue goal ycompute local world coordinates ycompute global world coordinates

zLocalization using Evidence Aggregation ymaintain grid that accumulates hints yfind goals and use distance to draw circles yfind most significant wall and draw lines

zInitial Ball Search yfind most significant cluster of orange ydon’t confuse with robot markers Tracking Objects zkey assumption: World changes slowly. zpredict the appearance of the next frame zinspect restricted areas of the image

zWorld Model ylines with color transitions (e.g. field->wall) ycolor blobs (e.g. ball, goals, obstacles) zproject the model into the next frame zuse inverse distance function

zsearch for color transitions perpendicular to lines (tracking grid) zuse found transitions to move model

zsearch for blobs in small windows zfull resolution, full frame rate tracking zhas been used to control behavior