Detecting Features of Middle Size Soccer Field using Omnidirectional Camera for Robot Soccer ERSOW

Nurrohmah, Erna Alfi; Bayu, Bima Sena; Bachtiar, Mochamad Mobed; Wibowo, Iwan Kurnianto; Adryantoro, Renardi

doi:10.1109/icosta48221.2020.1570615971

Cited by 17 publications

(8 citation statements)

References 3 publications

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“…The modeling of the omnidirectional camera [2][3] is illustrated in Figure 4. Hyperbole mirror equation has the form of the equation ax + bc + c = 0, which is converted into a new form so that it is easier to do calculations.…”

Section: Omnidirectional Cameramentioning

confidence: 99%

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Goalpost Detection Using Omnidirectional Cameras on ERSOW Soccer Robots

Bachtiar

Wibowo

Hamarsudi³

2020

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The ERSOW robot is a soccer robot developed by Politeknik Elektronika Negeri Surabaya, Indonesia. One important ability of a soccer robot is the ability to find the goal in the field. Goal Post is often used as a sign by soccer robots in a match. The mark is a reference robot in the field to be used in determining the strategy. By knowing the location of the goal in a field, the soccer robot can decide to maneuver in the match to get the right goal kick. There are various methods of detecting goals. One of them is to detect goal posts using vision. In this study, the radial search lines method is used to detect the goalposts as markers. Image input is generated from an omnidirectional camera. The goal area is detected on the front side of the goal area. With experiments from 10 robot position points in the field, only 1 position point cannot detect the goal. The robot cannot detect the goal because what is seen from the camera is the side of the goal, so the front side of the goal area is not visible.

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Section: Omnidirectional Cameramentioning

confidence: 99%

“…The way to detect it is to use a camera. ERSOW uses omnidirectional cameras as a vision to see the entire field area [1] [2].…”

Section: Introductionmentioning

confidence: 99%

Goalpost Detection Using Omnidirectional Cameras on ERSOW Soccer Robots

Bachtiar

Wibowo

Hamarsudi³

2020

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“…The equation can be used to estimate the actual distance between the robot and the goal post that is used as a marker. The equation becomes (2).…”

Section: Omnidirectional Cameramentioning

confidence: 99%

Goalpost Detection Using Omnidirectional Cameras on ERSOW Soccer Robots

Bachtiar

Wibowo

Hamarsudi³

2020

Inf. J. Ilm. Bid. Teknol. Inf. dan Komun.

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The ERSOW robot is a soccer robot developed by Politeknik Elektronika Negeri Surabaya, Indonesia. One important ability of a soccer robot is the ability to find the goal in the field. Goal Post is often used as a sign by soccer robots in a match. The mark is a reference robot in the field to be used in determining the strategy. By knowing the location of the goal in a field, the soccer robot can make the decision to maneuver in the match to get the right goal kick. There are various methods of detecting goal. One of them is to detect goal post using vision. In this study the radial search lines method is used to detect the goalposts as markers. Image input is generated from an omnidirectional camera. The goal area that is detected is the front side of the goal area. With experiments from 10 robot position points in the field, only 1 position point cannot detect the goal. The robot cannot detect the goal because what is seen from the camera is the side of the goal, so the front side of the goal area is not visible.Keywords— omnidirectional camera, vision, radial search lines, goal detection, ersow soccer robot

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“…An omnidirectional vision system offers a 360degree panorama in the horizontal direction and it consists of a mirror and CCD, making the number of cameras required and total expenses are decreased [12]. Therefore, omnidirectional camera has gained popularity among researchers in various domains, such as video surveillance [13][14][15], robot driving [16,17], mobile robot competition [18,19],and augmented reality [20,21]. However, only a few studies have performed a stereo vision based on omnidirectional cameras because they have a more difficult on calibration system and more complex on stereo matching process.…”

Section: Introductionmentioning

confidence: 99%

Omnidirectional Stereo Vision Study from Vertical and Horizontal Stereo Configuration

Pratama

Dewantara

Pramadihanto³

2022

EMITTER Int'l J. of Engin. Technol.

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In stereo vision, an omnidirectional camera has high distortion compared to a standard camera, so the camera calibration is very decisive in its stereo matching. In this study, we will perform stereo matching for an omnidirectional camera with vertical and horizontal configuration so that the result of the image's depth has a 360-degree field of view by transforming the image using a calibration-based method. The result is that by using a vertical camera configuration, the image can be stereo matched directly, but by configuring a horizontal image, it is necessary to carry out a different stereo-matching process in each direction. Stereo matching with the semi-global matching method has better image results than block matching with more image objects detectable by the semi-global block matching method with a maximum disparity value of 32 pixels and with a window size of 21 pixels.

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Detecting Features of Middle Size Soccer Field using Omnidirectional Camera for Robot Soccer ERSOW

Cited by 17 publications

References 3 publications

Goalpost Detection Using Omnidirectional Cameras on ERSOW Soccer Robots

Goalpost Detection Using Omnidirectional Cameras on ERSOW Soccer Robots

Goalpost Detection Using Omnidirectional Cameras on ERSOW Soccer Robots

Omnidirectional Stereo Vision Study from Vertical and Horizontal Stereo Configuration

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