Bridging gap between the simulation and robotics with a global vision system

Yukiko Nakagawa, Hiroshi G. Okuno, Hiroaki Kitano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A wide gap lies between the simulation league and real robot leagues of RoboCup, in particular in applications. In the simulation league, the soccer server maintains all data on the pitch and feeds such data to applications via networks. Therefore, several applications such as 2D- and 3D-viewers, commentary systems have been developed. In this paper, we propose that using a global vision system can bridge the gap of applications. A global vision system, which is usually used in the small size league, is extended to serve as a data feeder. Its main issues include missing object identification (due to occlusion and feature extraction failure), errors in player identification (due to mis-assignment of objects among continuous frames), detection of stoppage, and elimination of unnecessary scenes. To cope with these issues, the proposed system uses estimation and scene analysis. We also present an extension of the soccer server protocols to feed state specific to the small size league. The resulting system succeeded in feeding data of the final game of RoboCup'99 to a 2D-viewer and a commentary system.

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Pages209-218
Number of pages10
Volume2019 LNAI
Publication statusPublished - 2001
Externally publishedYes
Event4th Robot World Cup Soccer Games and Conferences, RoboCup 2000 - Melbourne, VIC
Duration: 2000 Aug 272000 Sep 3

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume2019 LNAI
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other4th Robot World Cup Soccer Games and Conferences, RoboCup 2000
CityMelbourne, VIC
Period00/8/2700/9/3

Fingerprint

Vision System
Robotics
Simulation
Servers
Server
Scene Analysis
Occlusion
Feature Extraction
Elimination
Feature extraction
Assignment
Robot
Robots
Game
Network protocols
Object

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

Cite this

Nakagawa, Y., Okuno, H. G., & Kitano, H. (2001). Bridging gap between the simulation and robotics with a global vision system. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 2019 LNAI, pp. 209-218). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2019 LNAI).

Bridging gap between the simulation and robotics with a global vision system. / Nakagawa, Yukiko; Okuno, Hiroshi G.; Kitano, Hiroaki.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 2019 LNAI 2001. p. 209-218 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2019 LNAI).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nakagawa, Y, Okuno, HG & Kitano, H 2001, Bridging gap between the simulation and robotics with a global vision system. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 2019 LNAI, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 2019 LNAI, pp. 209-218, 4th Robot World Cup Soccer Games and Conferences, RoboCup 2000, Melbourne, VIC, 00/8/27.
Nakagawa Y, Okuno HG, Kitano H. Bridging gap between the simulation and robotics with a global vision system. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 2019 LNAI. 2001. p. 209-218. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
Nakagawa, Yukiko ; Okuno, Hiroshi G. ; Kitano, Hiroaki. / Bridging gap between the simulation and robotics with a global vision system. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 2019 LNAI 2001. pp. 209-218 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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