Designing an omnidirectional vision system for a goalkeeper robot

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Designing an omnidirectional vision system for a goalkeeper robot. E. Menegatti, F. Nori, E. Pagello, C. Pellizzari, D. Spagnoli. Dept. of Electronics and Informatics. The University of Padua Italy. Presentations Outline. The design of an omnidirectional mirror - PowerPoint PPT Presentation

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  • Designing an omnidirectional vision system for a goalkeeper robotE. Menegatti, F. Nori, E. Pagello, C. Pellizzari, D. SpagnoliDept. of Electronics and InformaticsThe University of Padua Italy

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • Presentations OutlineThe design of an omnidirectional mirrorHow the task commits the designComparison b/t two mirrors designed for different tasks

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • Related worksBonarini [1999]:Conical mirror with spherical vertexHicks [1999]:Linear mirrorNumerically solves differential equationSorrenti [2000]:Multi-part mirrorIsometric mirrorGeometrically solves differential equation

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • Mirror for a goalkeeperThe task of the robot must determine the mirror profileThe goalies tasks:Self-localizeLocate the ballIntercept the ball Requirements:Good accuracy close to the robotLarge field of view

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • Different Mirror Profiles

    ProfileProsConsConical No body Const. Rel. Error Close is small Small FOVConical with Spherical Vertex Close is big Const. Rel. Error Body Small FOVIsometric Const. Abs. error Preserve size Body Big Rel. Error

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • The mirror we designed...Three parts:Measurement MirrorMarker MirrorProximity MirrorMirror ProfileThe task determines the mirror profile

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • How to design a mirror...Mirror profile construction

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • SimulationsFrom the MatLab output to the PovRay Ray TracerModel of the MirrorSimulated sequence

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • Actual MirrorPicture of Lisas mirrorOmnidirectional sequence

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • Omnidirectional SoftwareCalculating Ball Position

    Localisation using goalposts Goalkeeper Behaviour

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • Calculating Ball PositionProportion b/t measurement mirror and proximity mirror

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • Localisation using goalpostsFind goalpost azimuth and distanceRe-localisation is dangerousGoalpost bottoms

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • Goalkeeper BehaviourInactive ballShot in goalDangerous ball

    New goalkeeper moving Comparison with old moving

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • A Goalie's Mirror vs. An Attackers MirrorGoalkeeperAttacker

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • RequirementsFor Goalie:Locate the ballIdentify the markersSee the defended goalFor Attacker:Locate the ballIdentify the markersSee both goalsLighter mirror

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • The attackers mirrorPlay on what you see, i.e. No absolute localisation in decision making!

    LighterSmallerWider FOVThe new mirror

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • Two Mirrors, Two TasksGoalkeeperAttacker

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • ConclusionWe showed how the task commits the mirror design We gave details on a mirror design procedureWe gave practical hints on goalkeeper behaviourWe highlighted the danger of a re-localisation process during a shot

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • AcknowledgmentsWe wish to thank:A. Bonarini and D. SorrentiThe other members of the Artisti Veneti Team: M. Barbon, M. Bert, C. Moroni, S. Zaffalon.

    This research has been supported by: The Parallel Computing Project of the Italian Energy Agency (ENEA) The Special Project on Multi Robot Cooperative Systems of the University of Padua

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  • The Heterogeneous Team

    E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

    Visione omnidirezionaleDott. E. Menegatti

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