Embedded Distributed Vision System for Humanoid Soccer Robot

• Autores: Juan Francisco Blanes Noguera, Albero Gil Miguel, Javier O. Coronel Parada, José Simó , Manuel Muñoz Alcobendas, P. Muñoz
• Localización: JoPha: Journal of Physical Agents, ISSN-e 1888-0258, Vol. 5, Nº. 1, 2011, págs. 55-62
• Idioma: inglés
• DOI: 10.14198/jopha.2011.5.1.07
• Enlaces
  • Texto completo
• Resumen

  • Computer vision is one of the most challenging applications in sensor systems since the signal is complex from spatial and logical point of view. Due to these characteristics vision applications require high computing resources, which makes them especially difficult to use in embedded systems, like mobile robots with reduced amount memory and computing power. In this work a distributed architecture for humanoid visual control is presented using specific nodes for vision processing cooperating with the main CPU to coordinate the movements of the exploring behaviours. This architecture provides additional computing resources in a reduced area, without disturbing tasks related with low level control (mainly kinematics) with the ones involving vision processing algorithms.

    The information is exchanged allowing to linking control loops between both nodes.

• Referencias bibliográficas
  • [1] Tzuu-Hseng S. Li et al., "aiRobots: Team Description for Humanoid KidSize League of RoboCup 2010," Workshop RoboCup Singapore...
  • [2] Chokchai Pengyasa et al., "Team BSRU-I: Team Description Paper," Workshop RoboCup Singapore 2010.
  • [3] Aphilux Buathong et al., "Chibi Dragon Team Description Paper," Workshop RoboCup Singapore 2010.
  • [4] Luis F Lupián et al., "Cyberlords RoboCup 2010 Humanoid KidSize Team Description Paper," Workshop RoboCup Singapore 2010.
  • [5] M. Friedmann et al., "Darmstadt Dribblers. Team Description Paper for Humanoid KidSize League of RoboCup 2010," Workshop RoboCup...
  • [6] Bennet Fischer et al., "FUmanoid Team Description Paper 2010," Workshop RoboCup Singapore 2010.
  • [7] Lim Sock Lip et al., "Team NYP Lions: Team Description Paper," Workshop RoboCup Singapore 2010.
  • [8] Roberto Carlos Ramírez Márquez et al., "PIONEROS MEXICO Team Description Paper ROBOCUP 2010 Singapore," Workshop RoboCup Singapore...
  • [9] Guangnan Ye et al., "PKU-SHRC Team Description for RoboCup 2010," Workshop RoboCup Singapore 2010.
  • [10] Buck Sin Ng et al., "Robo-Erectus Jr-2010 KidSize Team Description Paper," Workshop RoboCup Singapore 2010.
  • [11] Keith Sullivan et al., "RoboPatriots: George Mason University 2010 RoboCup Team," Workshop RoboCup Singapore 2010.
  • [12] Shohei Takesako et al., "SitiK KIT. Team Description for the Humanoid KidSize League of RoboCup 2010," Workshop RoboCup Singapore...
  • [13] S. Hamidreza Mohades Kasaei et al., "Persia Humanoid Robot. Team Description Paper 2010," Workshop RoboCup Singapore 2010.
  • [14] Guillermo Villarreal-Pulido et al., "Bogobots-TecMTY humanoid kidsize team 2010," Workshop RoboCup Singapore 2010.
  • [15] R. Gerndt et al., "WF Wolves KidSize Team Description RoboCup 2010," Workshop RoboCup Singapore 2010.
  • [16] Jaekweon Han et al., "Team DARwIn. Team Description for Humanoid KidSize League of RoboCup 2010," Workshop RoboCup Singapore...
  • [17] Soo Theng Koay et al., "Team Description 2010 for Team RO-PE," Workshop RoboCup Singapore 2010.
  • [18] Thavida Maneewarn et al., "Team KMUTT: Team Description Paper," Workshop RoboCup Singapore 2010.
  • [19] Tang Qing, "ZJUDancer Team Description Paper," Workshop RoboCup Singapore 2010.
  • [20] Ching-Chang Wong et al., "Humanoid Soccer Robot Design by TKU Team for Humanoid League of RoboCup 2010," Workshop RoboCup Singapore...
  • [21] Chung-Hsien Kuo et al., "Team Description Paper: HuroEvolution Humanoid Robot for RoboCup 2010 Humanoid League," Workshop RoboCup...
  • [22] Javier Testart et al., "UChile RoadRunners 2010 Team Description Paper," Workshop RoboCup Singapore 2010.