Date post: | 19-Jan-2017 |
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A Visual Compass for Robot SoccerFinal Year ProjectFinal Presentation
Student: Adil Mahmood
Supervisor: Dr John McDonald
What is RoboCup
•RoboCup is an annual international robotics soccer competition founded in 1997.
•The official goal of the RoboCup: robots that are capable of beating the FIFA World Cup winning team by 2050.
•RoboEireann, Maynooth’s RoboCup team, have competed in the Standard Platform League (SPL) since 2008.
Overview of Background
Mobile robot localisation can be separated into two separate problems, Local localisation (a.k.a. incremental
localisation) the robot has an initial estimate of its pose
Global localisation (a.k.a. kidnapped robot)
robot doesn’t have initial position information
Estimated line
Real Pose
Estimated Pose
Real line
Loop closure correction
Local Localisation
Global LocalisationWhere I’m? Which
direction I’m facing?
Research Questions
Is visual compass effective to find the direction of robot is currently looking?
What is the measurement of success?
Goals of Project
Develop a visual compass for global localisationImages of visual appearance of fixed objects
surrounding the pitch (or potential above the pitch) construct a panorama
using a sequence of imagesmatch query image to the panorama
detect features and matched features.Compute the direction of robot
Approach to GoalsBuild a visual map
using OpenCV and SURF algorithms
Visual map represent 360°
find the direction the robot is currently looking.
Visual Compass
Visual Compass
Visual Compass0 360199
Final Application: Screenshot
ImplementationsQt Creator, OpenCV, C++Algirithm
images
Stitching pipeline Panorama Query image
Load into Qt
DetectorDescriptor
Draw keypoint
Distance between keypoint
Good matches
Create, save histogram
array
Direction
Visual Compass
Experimental ResultsSURF ±18 % and SIFT ±29 % of
errorReason for large number of error?
Experimental Results
Weakness in technique
image29 image30 image35
Conclusions & Future Work
Developed prototype desktop visual compass application
Evaluated on real image dataset Problems Encountered
Ubuntu OS troubleshooting, QT toolkit, and OpenCV libraries
Design the GUI application in QTCreating a histogram
Future Work: Port to Nao robot.
Possible Solution to reduce the error
Create a visual map from different position of pitch
A Visual Compass for Robot Soccer