Abstract
Robot Soccer (RS) vision system is designed for robot soccer competition. Most RS system implemented colour patches as main marker detector for robot localisation and ball detection. It requires complicated procedures for colour and camera calibration and highly affected by light to run smoothly while it suffers parallax issue. This paper aims to improvise the procedures and performance by minimising the calibration process for robot localisation and produces accurate marker detection for robot identification. ArUcoRSV utilises marker detection using ArUco patches to solve light limitation and able to perform camera calibration processes quick and reliable. It applies an automated perspective using marker detection, refining rejected marker and pose estimation. Experimental results for robot calibration and localisation using ArUcoRSV achieved significant improvements in detection rate with high positional accuracy. This system is expandable and robust to deal with various types of robots including low cost robots.
| Original language | English |
|---|---|
| Title of host publication | Robot Intelligence Technology and Applications - 6th International Conference, RiTA 2018, Revised Selected Papers |
| Editors | Jong-Hwan Kim, Hyung Myung, Seung-Mok Lee |
| Publisher | Springer Verlag |
| Pages | 189-198 |
| Number of pages | 10 |
| ISBN (Print) | 9789811377792 |
| DOIs | |
| Publication status | Published - 1 Jan 2019 |
| Event | 6th International Conference on Robot Intelligence Technology and Applications, RiTA 2018 - Kuala Lumpur, Malaysia Duration: 16 Dec 2018 → 18 Dec 2018 |
Publication series
| Name | Communications in Computer and Information Science |
|---|---|
| Volume | 1015 |
| ISSN (Print) | 1865-0929 |
Conference
| Conference | 6th International Conference on Robot Intelligence Technology and Applications, RiTA 2018 |
|---|---|
| Country | Malaysia |
| City | Kuala Lumpur |
| Period | 16/12/18 → 18/12/18 |
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ASJC Scopus subject areas
- Computer Science(all)
- Mathematics(all)
Cite this
ArUcoRSV : Robot localisation using artificial marker. / Azmi, Izwan; Shafei, Mohamad Syazwan; Nasrudin, Mohammad Faidzul; Sani, Nor Samsiah; Abd Rahman , Abdul Hadi.
Robot Intelligence Technology and Applications - 6th International Conference, RiTA 2018, Revised Selected Papers. ed. / Jong-Hwan Kim; Hyung Myung; Seung-Mok Lee. Springer Verlag, 2019. p. 189-198 (Communications in Computer and Information Science; Vol. 1015).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - ArUcoRSV
T2 - Robot localisation using artificial marker
AU - Azmi, Izwan
AU - Shafei, Mohamad Syazwan
AU - Nasrudin, Mohammad Faidzul
AU - Sani, Nor Samsiah
AU - Abd Rahman , Abdul Hadi
PY - 2019/1/1
Y1 - 2019/1/1
N2 - Robot Soccer (RS) vision system is designed for robot soccer competition. Most RS system implemented colour patches as main marker detector for robot localisation and ball detection. It requires complicated procedures for colour and camera calibration and highly affected by light to run smoothly while it suffers parallax issue. This paper aims to improvise the procedures and performance by minimising the calibration process for robot localisation and produces accurate marker detection for robot identification. ArUcoRSV utilises marker detection using ArUco patches to solve light limitation and able to perform camera calibration processes quick and reliable. It applies an automated perspective using marker detection, refining rejected marker and pose estimation. Experimental results for robot calibration and localisation using ArUcoRSV achieved significant improvements in detection rate with high positional accuracy. This system is expandable and robust to deal with various types of robots including low cost robots.
AB - Robot Soccer (RS) vision system is designed for robot soccer competition. Most RS system implemented colour patches as main marker detector for robot localisation and ball detection. It requires complicated procedures for colour and camera calibration and highly affected by light to run smoothly while it suffers parallax issue. This paper aims to improvise the procedures and performance by minimising the calibration process for robot localisation and produces accurate marker detection for robot identification. ArUcoRSV utilises marker detection using ArUco patches to solve light limitation and able to perform camera calibration processes quick and reliable. It applies an automated perspective using marker detection, refining rejected marker and pose estimation. Experimental results for robot calibration and localisation using ArUcoRSV achieved significant improvements in detection rate with high positional accuracy. This system is expandable and robust to deal with various types of robots including low cost robots.
UR - http://www.scopus.com/inward/record.url?scp=85065059766&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85065059766&partnerID=8YFLogxK
U2 - 10.1007/978-981-13-7780-8_15
DO - 10.1007/978-981-13-7780-8_15
M3 - Conference contribution
AN - SCOPUS:85065059766
SN - 9789811377792
T3 - Communications in Computer and Information Science
SP - 189
EP - 198
BT - Robot Intelligence Technology and Applications - 6th International Conference, RiTA 2018, Revised Selected Papers
A2 - Kim, Jong-Hwan
A2 - Myung, Hyung
A2 - Lee, Seung-Mok
PB - Springer Verlag
ER -