A new AI benchmark. Soccer without Reason Computer Vision and Control for Soccer Playing Robots. Dr. Raul Rojas
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1 Soccer without Reason Computer Vision and Control for Soccer Playing Robots Dr. Raul Rojas A new AI benchmark -computer vision in real time - embodied intelligence: mechanics - energy management - local control - communication between autonomous agents - team behavior - adaptation and learning
2 Robotic Soccer Started in 1997 RoboCup takes place together with IJCAI I - Simulation league II Small size league III- Mid-size league IV- Legged league V Humanoid league Simulation league soccer-server simple actions virtual robots
3 Legged league Mid-size league field 10 5 meters four on four
4 The mid-size environment Mid-size robots Omnidirectional vision - Laptop for control - Firewire video camera
5 Small size league 18 cm diameter Omnidirectional robots
6 I Global vision Global vision computer wireless communication global camera
7 The world is colored Team color Block diagram of the software user interface vision system reactive behavior wireless communication
8 Sensing colors Interpolate colors Illumination, aberration artifacts
9 Segmentation Original data high saturation hue Average color Tracking the robots Robot model 3 points, position, direction,... 4 frames! geometry :-) :-(
10 Tracking the ball the position of the ball is predicted P.-Vorhersage, RGB, HSI, Größe,... variable search frame color adaptation Adaptive color maps
11 Global Search RGB distance Subsampling Structure of the Vision System framegrabber: camera image Ball-Module Update- Module Team-Module Team-Module Field, Ball, Robots
12 II - Hardware Kicking device Motors Batteries Chassis Electronics Chassis Stable box for all devices
13 Electronics Wireless module PID controller HC12 Microprocessor From Motorola
14 Wireless modules Transmitter TX3 up to 64 kb/s Operation from 2.2V to 7.5mA Receiver RX3 Operation from 2.7V to 9.5mA Kicking device Rotation
15 II Local vision Our first omnivision robots
16 Spherical and parabolic transformations Hyperbolic and elliptic mirrors Focus on a pinhole
17 The field seen with our mirror Locating the robot Parabolic Mirror distance pixel distance
18 Distances to the sides Series1 Series2 Series3 Series Series1 a) Expectation-Maximization Series1 Series1 Series1 - Every line attracts the points nearer to it - Compute total force - Iterate Series1
19 b) Locating a robot with two angles to known beacons III Reactive Behavior
20 Reactive Behavior Control slow fast sensors behaviors actuators Team Control Team Levels Robot 1 Robot 2 Robot 3 Robot 4 Robot 5
21 Sensor Aggregation: Robot position Layer 0: noise Layer 1: smoothed Subsampling Layer i+1 Layer i Layer i-1
22 Structure of a layer Higher layer sensors effectors sensors behaviors actors Lower layer Deciding on a kick Ball is on the other side Team: twice per second offense should_i = 0 should_i = 0 should_i = 1 should_i = 0 player 1 player 2 player 3 player 4 Homing=>covering Homing =>covering kick Homing=>keep free
23 player 3 Kick: at the level of the player Layer 2: every 16 Frames kicking Kick direction run finalizing Layer 1: every 4 Frames position Drive_for_run Rotate for run drive_for_finalizing rotate_for finalizing Layer 0: each Frame drive rotate Kicking reflex Kicking reflex activated
24 Ball prediction Screenshot of control software
25 Kicking Path planning objective desired position position approach Path planning stop execute Kicking aproach objective position Ziel approach Path planning stop execute
26 Kicking objective aproach position Ziel approach Path planning stop execute Kicking objective execute position approach Path planning stop execute
27 Kicking objective execute Halten approach Path planning stop execute Kicking objective execute stop approach Path planning stop execute
28 Kicking stop approach Path planning stop execute Pass approach goal goal position approach position
29 Pass Pass goal position goal aproach position pass Passen pass goal kick-it goal approach position pass kick-it
30 Pass kick-it approach position pass kick-it Pass kick-it approach position pass kick-it
31 Pass kick-it approach position pass kick-it Taxis
32 Goalie behaviors Midsize robots
33 Omnidirectional vision Die FU-Fighters
34 Tracking soccer players
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