A small soccer robot recognition and tracking method based on rgbd information

A football robot and robot technology, which is applied in the field of visual perception servo movement, can solve the problems of complex goals and high dynamics of football games, and achieve the effect of high adaptability

Active Publication Date: 2020-11-03
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Compared with general applications, football games have the characteristics of high dynamics and complex goals. It is required that the robot can quickly perform image processing and path planning, and at the same time fully grasp the situation on the field and respond to it. Research on visual perception servo movement technology presents certain challenges

Method used

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  • A small soccer robot recognition and tracking method based on rgbd information
  • A small soccer robot recognition and tracking method based on rgbd information
  • A small soccer robot recognition and tracking method based on rgbd information

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Embodiment

[0050] In this embodiment, it is necessary to equip a small football robot with a visual unit and a computing chip that does not originally have an independent vision and an independent computing processing system. Due to the need to obtain a separate vision, this embodiment installs an IntelRealSense D435 depth camera on the robot, so that the robot can obtain the visual image ahead.

[0051] The first step to realize the recognition and tracking of the ball is to recognize the position of the ball from the visual image. The schematic diagram of the process is as follows: figure 2 As shown, it will be described in detail below.

[0052] 1. Visual identity

[0053] 1.1 Acquisition of visual information: Since the hardware uses the Intel RealSense D435 depth camera as the sensing element, the RGB image information, depth information, and point cloud information can be obtained through the official Intel RealSense SDK (Software Development Kit): librealsense. The specific API...

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PUM

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Abstract

The invention, which belongs to the technical field of visual perception type servo moving, discloses an RGBD-information-based small soccer robot recognition, tracking and grabbing method. At present, all mobile and information sources of the existing small soccer robot rely on the full-area camera at a high altitude and the small soccer robot does not have independent vision and independent computing processing system and moves by performing instructions from a computer side; and when the full-area camera fails to work, the small soccer robot becomes blind completely to cause the failure. However, the small soccer robot is provided with a depth camera as a sensing element; and the robot has the independent vision by cooperating with the corresponding control algorithm. When the robot hasthe independent vision, the robot has the self-awareness ability to plays an important role. The small soccer robot is especially suitable for serving as a goalkeeper; and the soccer can be blocked based on the trajectory of the soccer.

Description

technical field [0001] The invention belongs to the field of visual perception servo movement, and in particular relates to a method for identifying, tracking and grasping a small football robot based on RGBD information. Background technique [0002] The idea of ​​the robot soccer game was first proposed by Alan Mackworth, a professor at the University of British Columbia in Canada, in the paper "On Seeing Robots" in 1992. development of. In 1996, under the advocacy of Carnegie Mellon University and other scholars, the RoboCup Robot World Cup competition was officially established, and gradually developed into one of the most influential robot competitions in the world. The champion plays a friendly match with the human world cup soccer champion. [0003] The small soccer robot group is an important event in RoboCup. Its main form is that the camera located above the field sends the situation of the whole field (including the position of our robot, the position of the en...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223G05D1/0251G05D1/0276G05D2201/02
Inventor 陈泽希黄哲远王云凯方献泽熊蓉
Owner ZHEJIANG UNIV
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