Real-time ball detection and following based on a hybrid vision system with application to robot soccer field

Taher Abbas Shangari, Faraz Shamshirdar, Bita Azari, Mohammadhossein Heydari, Sourosh Sadeghnejad, Jacky Baltes

研究成果: 書貢獻/報告類型會議貢獻

摘要

Circle detection is one of the most important problems in image processing since circular objects, such as balls, are observed frequently in many natural and artificial environments and problems such as light variations, occlusions, shadows, circle-shaped objects, and real-time processing have to be managed. The previous methods are either edge-based which generally suffer from processing burden or color-based and cannot deal with color variations suitably. This paper presents a real-time ball detection framework that uses both color information and shape information together to detect and track a ball robustly. The results demonstrate superiority of the proposed method over the previous. After classifying the color space, image segmentation, building regions, and extracting objects, to reduce the computation, it is focused on finding the green horizon to eliminate a part of the image, which is beyond the field border. Afterward some filters based on circle-fitting methods, image moments are applied to detect and track the ball. The results show that these filters are real-time, robust against occlusion and are able to track the ball even for distances more than six meters.

原文英語
主出版物標題Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications
編輯Fakhri Karray, Jong-Hwan Kim, Hyun Myung, Jun Jo, Peter Sincak
發行者Springer Verlag
頁面521-527
頁數7
ISBN(列印)9783319312910
DOIs
出版狀態已發佈 - 2017 一月 1
事件4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015 - Bucheon, 大韓民國
持續時間: 2015 十二月 142015 十二月 16

出版系列

名字Advances in Intelligent Systems and Computing
447
ISSN(列印)2194-5357

其他

其他4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015
國家大韓民國
城市Bucheon
期間15/12/1415/12/16

    指紋

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

引用此

Shangari, T. A., Shamshirdar, F., Azari, B., Heydari, M., Sadeghnejad, S., & Baltes, J. (2017). Real-time ball detection and following based on a hybrid vision system with application to robot soccer field. 於 F. Karray, J-H. Kim, H. Myung, J. Jo, & P. Sincak (編輯), Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications (頁 521-527). (Advances in Intelligent Systems and Computing; 卷 447). Springer Verlag. https://doi.org/10.1007/978-3-319-31293-4_42