NDLI: A vision-guided object tracking and prediction algorithm for soccer robots

Content Provider	IEEE Xplore Digital Library
Author	Hong, C.S. Chun, S.M. Lee, J.S. Hong, K.S.
Copyright Year	1997
Description	Author affiliation: Dept. of Electron. & Electr. Eng., Pohang Inst. of Sci. & Technol., South Korea (Hong, C.S.)
Abstract	This paper presents a fast and effective visual tracking and location prediction algorithm for cooperative multiple soccer robots playing a soccer game. The picture image is captured by the system and the motion parameters of each object are then computed from the captured image. Then, an image is selected as a template and 2D color image pattern is extracted from the incoming image and a sequence of images are generated by using a simple linear predictor that speeds up the processing time. Based on the computed tracking parameters, a heuristic path is generated. By using a vision-based command to line-of-sight (CLOS) guidance method that predicts and generates next robot motions. Monitoring the selected object using visual images, the vision system tracks the object and adjusts the velocities and directions of the robots to cope with sudden changes of direction such as bounded ball from an obstacle or expected position errors of the selected object. The simulation results as well as experimental results show that the presented algorithm works well for the soccer game.
Starting Page	346
Ending Page	351
File Size	529065
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.620062
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Prediction algorithms Robot vision systems Computer vision Image generation Navigation Histograms Mobile robots Trajectory Tracking Object detection
Content Type	Text
Resource Type	Article

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