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Designing an omnidirectional vision system for a goalkeeper robot

Designing an omnidirectional vision system for a goalkeeper robot. E. Menegatti, F. Nori, E. Pagello, C. Pellizzari, D. Spagnoli. Dept. of Electronics and Informatics. The University of Padua Italy. Presentation’s Outline. The design of an omnidirectional mirror

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Designing an omnidirectional vision system for a goalkeeper robot

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  1. Designing an omnidirectional vision system for a goalkeeper robot E. Menegatti, F. Nori, E. Pagello, C. Pellizzari, D. Spagnoli Dept. of Electronics and Informatics The University of Padua Italy

  2. Presentation’s Outline • The design of an omnidirectional mirror • How the task commits the design • Comparison b/t two mirrors designed for different tasks E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  3. Related works Bonarini [1999]: • Conical mirror with spherical vertex Hicks [1999]: • Linear mirror • Numerically solves differential equation Sorrenti [2000]: • Multi-part mirror • Isometric mirror • Geometrically solves differential equation E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  4. Mirror for a goalkeeper The task of the robot must determine the mirror profile The goalie’s tasks: • Self-localize • Locate the ball • Intercept the ball Requirements: • Good accuracy close to the robot • Large field of view E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  5. Different Mirror Profiles E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  6. Three parts: Measurement Mirror Marker Mirror Proximity Mirror The mirror we designed... The task determines the mirror profile Mirror Profile E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  7. Y Y Y Y Y Y Y Y Y Y Vertex Vertex Vertex Vertex Vertex Vertex Vertex Vertex Vertex Vertex x y Pin Hole Pin Hole Pin Hole Pin Hole Pin Hole Pin Hole Pin Hole Pin Hole Pin Hole Pin Hole P dMax dMax dMax dMax dMax dMax dMax dMax dMax d1 d1 d1 d1 d1 d1 d1 d1 d1 X X X X X X X X X X DMin DMin DMin DMin DMin DMin DMin DMin DMin DMax DMax DMax DMax DMax DMax DMax DMax DMax D1 D1 D1 D1 D1 D1 D1 D1 D1 How to design a mirror... Mirror profile construction E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  8. Simulations From the MatLab output to the PovRay Ray Tracer Model of the Mirror Simulated sequence E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  9. Picture of Lisa’s mirror Omnidirectional sequence Actual Mirror E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  10. Omnidirectional Software • Calculating Ball Position • Localisation using goalposts • Goalkeeper Behaviour E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  11. Calculating Ball Position Proportion b/t measurement mirror and proximity mirror E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  12. Localisation using goalposts • Find goalpost azimuth and distance • Re-localisation is dangerous Goalpost bottoms E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  13. BallPos(t) BallPos(t+1) Goalkeeper Behaviour • New goalkeeper moving • Comparison with old moving • Inactive ball • Shot in goal • Dangerous ball E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  14. A Goalie's Mirror vs. An Attacker’s Mirror Attacker Goalkeeper E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  15. For Goalie: Locate the ball Identify the markers See the defended goal For Attacker: Locate the ball Identify the markers See both goals Lighter mirror Requirements E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  16. The attacker’s mirror Play on what you see, i.e. “No absolute localisation in decision making!” • Lighter • Smaller • Wider FOV The new mirror E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  17. Two Mirrors, Two Tasks Goalkeeper Attacker E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  18. Conclusion • We showed how the task commits the mirror design • We gave details on a mirror design procedure • We gave practical hints on goalkeeper behaviour • We highlighted the danger of a re-localisation process during a shot E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  19. Acknowledgments We wish to thank: • A. Bonarini and D. Sorrenti • The other members of the Artisti Veneti Team: M. Barbon, M. Bert, C. Moroni, S. Zaffalon. This research has been supported by: • The Parallel Computing Project of the Italian Energy Agency (ENEA) • The Special Project on Multi Robot Cooperative Systems of the University of Padua E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

  20. The Heterogeneous Team E. Menegatti et al. - Omnidirectional Vision for Goalkeeper Robot

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