OpenCV in humanoid

[robaldo offline]

hi all
have you ever used OpenCV for image processing in humanoid robots?
i want to know how OpenCV help robotic and robocup (Humanoid)!
how to use it!?!
is using OpenCV better than learning image processing basics?
why? what are benefits of learning OpenCv?
thanks

[SK offline]

Most RoboCup teams (in the humanoid and standard platform league, that is) use largely custom image processing approaches, as there is very limited processing power available on the robots and it thus makes sense to use all available knowledge and possible optimizations for the given scenario.
In both leagues, elements of the playing field and robots are currently color-coded and this fact is leveraged in image processing systems. Both B-Human and the Dribblers (champions 2009 and 2010 in their respective leagues) use a so called "scanline" approach, where the image gets sampled using scanlines that are more coarse than the image resolution. For all sample points, the pixel gets assigned a color class using a look-up table and based on this, with further processing, objects can be detected.
Of course, the playing field will not stay color coded forever and the rules are moving a small step towards a real soccer scenario every year, so all that will change over the years and with more processing power available in smaller packages we'll likely also see more use of OpenCV in RoboCup humanoids.
All that of course does not mean that OpenCV is "bad", it only means that with the severe constraints of the RoboCup humanoid scenario, custom solutions are currently more successful.

[robaldo offline]

In both leagues, elements of the playing field and robots are currently color-coded and this fact is leveraged in image processing systems. Both B-Human and the Dribblers (champions 2009 and 2010 in their respective leagues) use a so called "scanline" approach, where the image gets sampled using scanlines that are more coarse than the image resolution. For all sample points, the pixel gets assigned a color class using a look-up table and based on this, with further processing, objects can be detected.

thanks
could you please explain more about scanlines?
i want to know weather i can do image processing with limited hardware or not!?
thanks in advance

[SK offline]

The German Team Report 2005 has a pretty good explanation of how it was done for the Aibos: http://www.germanteam.org/
A PDF as well as the source code can be downloaded there.

A similar release for 2010 is available from team B-Human in the Standard Platform League:
http://www.b-human.de/en/publications/

[SK offline]

Small update: We uploaded a short "first person view" video of Bruno kicking a goal. It also shows the detections by the image processing system (even if probably a bit hard to see in the video, as it looks rather hectic to a human ).

phpBB [media]

[robaldo offline]

is that the real camera fps of Bruno? is it 30 fps in 640x480 resolution?
also i want to know the circle and line detections are performed by OpenCV or not!?
thanks

[SK offline]

Yes, we're using a SPC-1300 in 640x480 YUV422 mode at 30Hz. As I said, we use a custom color-based grid/scanline based approach, so no OpenCV is used here.

[robaldo offline]

Yes, we're using a SPC-1300 in 640x480 YUV422 mode at 30Hz. As I said, we use a custom color-based grid/scanline based approach, so no OpenCV is used here.

thanks
could you please tell me what is your main processor?
i mean which board are u using for your robots?

[robaldo offline]

The German Team Report 2005 has a pretty good explanation of how it was done for the Aibos: http://www.germanteam.org/
A PDF as well as the source code can be downloaded there.

A similar release for 2010 is available from team B-Human in the Standard Platform League:
http://www.b-human.de/en/publications/

also i can't find the pdf you mentioned!
please link me directly to it!
i'm eager to learn what the scanline is.

[SK offline]

also i can't find the pdf you mentioned!
please link me directly to it!
i'm eager to learn what the scanline is.

http://www.germanteam.org/GT2005.pdf and
http://www.b-human.de/file_download/33/ ... elease.pdf
It really wasn't hard to find though

We're using a FitPC2 (Atom 1.6 GHz) for high level cognition stuff.

Just yesterday the teams qualified for the RoboCup Humanoid League were announced, so you can find a lot of information here:
http://www.tzi.de/humanoid/bin/view/Website/Teams2011
(Our TDP also has a nice overview about our robot hard- and software)

[arronlee offline]

hi all
have you ever used OpenCV for image processing in humanoid robots?
i want to know how OpenCV help robotic and robocup (Humanoid)!
how to use it!?!
is using OpenCV better than learning image processing basics?
why? what are benefits of learning OpenCv?
thanks

Hi, I am a newbie here. I wonder what's the latest version. I am almost a green hand on this field. Thanks in advance.



Bset regards,
Arron