Post on 18-Dec-2015
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Designing an Designing an omnidirectional vision omnidirectional vision
system for a goalkeeper system for a goalkeeper robotrobot
E. Menegatti, F. Nori, E. Pagello, E. Menegatti, F. Nori, E. Pagello,
C. Pellizzari, D. SpagnoliC. Pellizzari, D. Spagnoli
Dept. of Dept. of Electronics and Electronics and
InformaticsInformaticsThe University of The University of
Padua ItalyPadua Italy
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
Presentation’s OutlinePresentation’s Outline
The design of an omnidirectional The design of an omnidirectional mirrormirror
How the task commits the designHow the task commits the design Comparison b/t two mirrors Comparison b/t two mirrors
designed for different tasksdesigned for different tasks
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
Related worksRelated works
Bonarini [1999]:Bonarini [1999]:– Conical mirror with spherical Conical mirror with spherical
vertexvertex
Hicks [1999]:Hicks [1999]:– Linear mirrorLinear mirror– Numerically solves differential Numerically solves differential
equationequation
Sorrenti [2000]:Sorrenti [2000]:– Multi-part mirrorMulti-part mirror– Isometric mirrorIsometric mirror– Geometrically solves differential Geometrically solves differential
equationequation
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
Mirror for a goalkeeperMirror for a goalkeeper
The task of the robot must determineThe task of the robot must determine
the mirror profilethe mirror profile
The goalie’s The goalie’s tasks:tasks:
–Self-localizeSelf-localize–Locate the ballLocate the ball–Intercept the Intercept the ball ball
Requirements:Requirements:– Good accuracy Good accuracy
close to the close to the robotrobot
– Large field of Large field of viewview
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
Different Mirror ProfilesDifferent Mirror Profiles
ProfileProfile ProsPros ConsCons
ConicalConical No bodyNo body Const. Rel. ErrorConst. Rel. Error
Close is smallClose is small Small FOVSmall FOV
Conical with Conical with
Spherical Spherical VertexVertex
Close is bigClose is big Const. Rel. ErrorConst. Rel. Error
BodyBody Small FOVSmall FOV
IsometricIsometric Const. Abs. errorConst. Abs. error Preserve sizePreserve size
BodyBody Big Rel. Error Big Rel. Error
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
The mirror we designed...The mirror we designed...
Three parts:Three parts: Measurement MirrorMeasurement Mirror Marker MirrorMarker Mirror Proximity MirrorProximity Mirror
Mirror ProfileMirror ProfileThe task The task determines the determines the mirror profilemirror profile
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
How to design a mirror...How to design a mirror...
Mirror profile constructionMirror profile construction
Pin Hole
Vertex
Y
X
Pin Hole
Vertex
DMin DMax
X
Y
dMax d1
D1
Pin Hole
Vertex
DMin DMax
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Y
dMax d1
D1
Pin Hole
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DMin DMax
X
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dMax d1
D1
Pin Hole
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DMin DMax
X
Y
dMax d1
D1
x
y P
Pin Hole
Vertex
DMin DMax
X
Y
dMax d1
D1
Pin Hole
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DMin DMax
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dMax d1
D1
Pin Hole
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DMin DMax
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dMax d1
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Pin Hole
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DMin DMax
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dMax d1
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dMax d1
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E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
SimulationsSimulationsFrom the MatLab output to the PovRay Ray TracerFrom the MatLab output to the PovRay Ray Tracer
Model of the MirrorModel of the Mirror Simulated sequenceSimulated sequence
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
Actual MirrorActual Mirror
Picture of Lisa’s mirrorPicture of Lisa’s mirror Omnidirectional sequenceOmnidirectional sequence
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
Omnidirectional SoftwareOmnidirectional Software
Calculating Ball PositionCalculating Ball Position
Localisation using Localisation using goalpostsgoalposts Goalkeeper BehaviourGoalkeeper Behaviour
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
Calculating Ball PositionCalculating Ball Position
Proportion b/t measurement mirror and Proportion b/t measurement mirror and proximity mirrorproximity mirror
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
Localisation using Localisation using goalpostsgoalposts
Goalpost bottoms
Find goalpost Find goalpost azimuth and azimuth and distancedistance
Re-localisation Re-localisation is dangerousis dangerous
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
Goalkeeper BehaviourGoalkeeper Behaviour
Inactive ballInactive ball Shot in goalShot in goal Dangerous ballDangerous ball
New goalkeeper movingNew goalkeeper moving
Comparison with old movingComparison with old moving
BallPos(t+1)BallPos(t+1)
BallPos(t)BallPos(t)
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
A Goalie's Mirror vs. A Goalie's Mirror vs. An Attacker’s MirrorAn Attacker’s Mirror
GoalkeeperGoalkeeper AttackerAttacker
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
RequirementsRequirements
For Goalie:For Goalie: Locate the ballLocate the ball Identify the Identify the
markersmarkers See the defended See the defended
goalgoal
For Attacker:For Attacker: Locate the ballLocate the ball Identify the Identify the
markersmarkers See both goalsSee both goals Lighter mirrorLighter mirror
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
The attacker’s mirrorThe attacker’s mirror
Play on what you see, i.e. Play on what you see, i.e.
““No absolute localisation in decision making!”No absolute localisation in decision making!”
• LighterLighter
• SmallerSmaller
• Wider FOVWider FOVThe new mirrorThe new mirror
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
Two Mirrors, Two TasksTwo Mirrors, Two Tasks
GoalkeeperGoalkeeper AttackerAttacker
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
ConclusionConclusion
We showed how the task commits the We showed how the task commits the mirror design mirror design
We gave details on a mirror design We gave details on a mirror design procedureprocedure
We gave practical hints on goalkeeper We gave practical hints on goalkeeper behaviourbehaviour
We highlighted the danger of a re-We highlighted the danger of a re-localisation process during a shotlocalisation process during a shot
E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot
AcknowledgmentsAcknowledgments
We wish to thankWe wish to thank:: A. Bonarini and D. SorrentiA. Bonarini and D. Sorrenti The other members of the The other members of the Artisti Veneti Artisti Veneti
TeamTeam:: M. Barbon, M. Bert, C. M. Barbon, M. Bert, C. Moroni, S. Zaffalon.Moroni, S. Zaffalon.
This research has been supported by: This research has been supported by: The Parallel Computing Project of the Italian The Parallel Computing Project of the Italian
Energy Agency (ENEA) Energy Agency (ENEA) The Special Project on Multi Robot Cooperative The Special Project on Multi Robot Cooperative
Systems of the University of PaduaSystems of the University of Padua