Ball Distance Estimation and Tracking System of Humanoid Soccer Robot

Abstract : Modern Humanoid Soccer Robots in uncontrolled environments need to be based on vision and versatile. This paper propose a method for object measurement and ball tracking method using Kalman Filter for Humanoid Soccer, because the ability to accurately track a ball is one of the important features for processing high-definition image. A color-based object detection is used for detecting a ball while PID controller is used for controlling pan tilt camera system. We also modify the robots controller CM-510 in order able to communicate efficiently using main controller. The proposed method is able to determine and estimate the position of a ball and kick the ball correctly with the success percentage greater than 90%. We evaluate and present the performance of the system.
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Widodo Budiharto, Bayu Kanigoro, Viska Noviantri. Ball Distance Estimation and Tracking System of Humanoid Soccer Robot. 2nd Information and Communication Technology - EurAsia Conference (ICT-EurAsia), Apr 2014, Bali, Indonesia. pp.170-178, ⟨10.1007/978-3-642-55032-4_17⟩. ⟨hal-01397187⟩

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