A geometric localization method with monocular vision for robots

Xuesi Li, Haobin Shi, Haili Li, Kao Shing Hwang, Huahui Chen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Robot soccer is a classical problem in artificial intelligence. In robot soccer competitions, how to locate the robot properly is a key problem. This paper proposes a geometric localization method with monocular vision for robots. Firstly, the image is segmented and attributes are obtained by converting color space and RLE algorithm. Then a monocular vision localization model is built, in which both the pitch angle and direction angle of the head are not equivalent to zero. After that, we calculate the target coordinates and the corresponding pitch angle and direction angel by rotating the image plate, obtaining the relative position of the target. The simulation result shows that the proposed method reach high accuracy in localization.

Original languageEnglish
Title of host publicationProceedings - 2016 IEEE International Symposium on Computer, Consumer and Control, IS3C 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1022-1025
Number of pages4
ISBN (Electronic)9781509030712
DOIs
StatePublished - 16 Aug 2016
Event2016 IEEE International Symposium on Computer, Consumer and Control, IS3C 2016 - Xi'an, China
Duration: 4 Jul 20166 Jul 2016

Publication series

NameProceedings - 2016 IEEE International Symposium on Computer, Consumer and Control, IS3C 2016

Conference

Conference2016 IEEE International Symposium on Computer, Consumer and Control, IS3C 2016
Country/TerritoryChina
CityXi'an
Period4/07/166/07/16

Keywords

  • Localization
  • Monocular vision
  • Robot soccer
  • Rotate image

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