An OmnidirectionalVision System

that finds and trackscolor edges and blobs

Felix v. HundelshausenSven BehnkeRaúl Rojas

An OmnidirectionalVision System

that finds and tracks

color edgesand blobs

Felix v. HundelshausenSven BehnkeRaúl Rojas

SmallSize-TeamFU-Fighters

Omnidirectional Camera

concave parabolic mirrorPAL cameraanalog video transmission to

external PC

Color Segmentationcolor classification by look-up-table

Search for color-transitions along lines

Radial Searchand Hough Transformationsend rays from center to all

directionsdetect color transitions field->wallaccumulate evidence for walls

Initial Localizationof the Robot and the BallDirect Robot Localization

find yellow and blue goal compute local world coordinates compute global world coordinates

Localization using Evidence Aggregation maintain grid that

accumulates hints find goals and use

distance to draw circles find most significant wall and draw lines

Initial Ball Search find most significant cluster of orange don’t confuse with robot markers

Tracking Objectskey assumption: World changes slowly.predict the appearance of the next frameinspect restricted areas of the image

World Model lines with color transitions (e.g. field->wall) color blobs (e.g. ball, goals, obstacles)

project the model into the next frameuse inverse distance function

search for color transitions perpendicular to lines (tracking grid)

use found transitions to move model

search for blobs in small windows

full resolution, full frame rate trackinghas been used to control behavior