Original scientific paper

Mobile Robots Tracking Using Computer Vision

Gregor Klančar
Mišel Brezak
Drago Matko
Ivan Petrović

Abstract

In this paper a global vision scheme applied to a fast dynamic game – robot soccer is presented. The process of robots positions and orientations estimation is divided into two steps. In the first step, the Bayer format image is acquired from camera, then the RGB image is interpolated and pixels are classified into a finite number of classes. At the same time, a segmentation algorithm is used to find corresponding regions belonging to one of the classes. In the second step, all the regions are examined. Selection of the ones that are parts of the observed object is made by means of simple logic procedures. A data filtering is used to improve identified noisy data. The novelty is focused on the optimization of the image acquisition algorithm as well as the processing time needed to finish the estimation of possible object positions.

Keywords

Bayer CFA; computer vision; image segmentation; mobile robots; pixel classification

Hrčak ID:

4396

URI

https://hrcak.srce.hr/4396

Publication date:

27.1.2006.

Article data in other languages: croatian

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