Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)

  • 1996.11a
  • /
  • Pages.434-438
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  • 1996
  • /
  • 2005-8446(pISSN)
Korean Society for Precision Engineering (한국정밀공학회)
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A Vision System for ]Robot Soccer Game

로봇 축구 대회를 위한 영상 처리 시스템

  • 고국원 (한국과학기술원 기계공학과) ;
  • 최재호 (한국과학기술원 기계공학) ;
  • 김창효 (삼성 전자 주식 회사 비젼연구) ;
  • 김경훈 (한국과학기술원 기계공학) ;
  • 김주곤 (한국과학기술원 기계공학) ;
  • 이수호 (한국과학기술원 기계공학) ;
  • 조형석 (한국과학기술원 기계공학과)
  • Published : 1996.11.01
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Abstract

In this paper we present the multi-agent robot system and the vision system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Micro robot are equipped with two mini DC motors witf encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit(AISI vision computer). The vision algorithm is based on morphological method. And it takes about 90 msec to detect ball and 3-our robots and 3-opponent robots with reasonable accuracy

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