Vision system used for

• Object recognition (ball, players, goals, lines, and boards)
• World reconstruction (position of the objects, self-localization)

Image processing steps

Off-line: Camera calibration (internal, extrernal, and color filter parameters)

On-line:

1. HSV color filter
2. Color-based object recognition
3. Determining object position

Camera calibration

Internal calibration

Find the relationship between the pinhole model of the camera and the actual device.

External calibration

Determining translation and rotation of the camera reference system in the robot reference system.

Color filter calibration

Compensation for different light conditions.

Original image	Filtered image

 
 

Object recognition

Based on color correlation techniques.
 

3D reconstruction

Assumption: objects are on the ground.

Example

Go to Self-Localization