Fast Image Segmentation, Object Recognition and Localization in a RoboCup Scenario

摘要: This paper presents the vision system of robot soccer team Agilo RoboCuppers - RoboCup image understanding group (FG BV) at Technische Universitat Munchen.We present a fast and robust color classification method yielding significant regions in image. The boundaries between adjacent are used to localize objects like ball or other robots on field. Furthermore for each player free motion space is determined its position orientation field estimated. All this done completely based, without any additional sensors.