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Unknown-color spherical object detection and tracking

2013

Conference Paper

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Detection and tracking of an unknown-color spherical object in a partially-known environment using a robot with a single camera is the core problem addressed in this article. A novel color detection mechanism, which exploits the geometrical properties of the spherical object's projection onto the image plane, precedes the object's detection process. A Kalman filter-based tracker uses the object detection in its update step and tracks the spherical object. Real robot experimental evaluation of the proposed method is presented on soccer robots detecting and tracking an unknown-color ball.

Author(s): Troppan, A and Guerreiro, E and Celiberti, F and Santos, G and Ahmad, A and Lima, PU
Pages: 1-4
Year: 2013
Month: April
Publisher: IEEE

Department(s): Perceiving Systems
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/Robotica.2013.6623533
Event Name: 13th International Conference on Autonomous Robot Systems (Robotica 2013)
Event Place: Lisboa, Portugal

BibTex

@inproceedings{TroppanGCSAL2013,
  title = {Unknown-color spherical object detection and tracking},
  author = {Troppan, A and Guerreiro, E and Celiberti, F and Santos, G and Ahmad, A and Lima, PU},
  pages = {1-4},
  publisher = {IEEE},
  month = apr,
  year = {2013},
  month_numeric = {4}
}