Naslov
Global Vision Based Tracking of Multiple Mobile Robots in Subpixel Precision

Autori
Brezak, Mišel ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of 5th IEEE International Conference on Industrial Informatics (INDIN 2007) / - Beč, 2007, 473-478

ISBN
1-4244-0864-4

Skup
5th IEEE International Conference on Industrial Informatics

Mjesto i datum
Beč, Austrija, 23.07.2007. - 27.07.2007

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Global vision; Robot Tracking; Robot soccer; Multi robot systems
(Global vision; Robot soccer; Multi robot systems)

Sažetak
This paper presents a new global vision system for tracking of multiple mobile robots, with special emphasis on following requirements: (i) high measurement precision and accuracy, (ii) robustness to light intensity changes, (iii) ability to track unlimited number of robots, and (iv) high speed and real time operation. In order to fulfill these requirements we use an IEEE 1394 camera with 80 fps, which delivers images in so called Bayer format. We also design a specific robot mark that enables measurement of robot locations directly in Bayer format image with subpixel precision. The developed vision system fulfils all of given requirements, which was verified by carefully performed experiments.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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