Depth estimation from vision based wireless monocular camera sensor for soccer robot applications in MiroSot Middle League

MiroSot is an area where robotics fields such as mobility structure, artificial intelligence. vision system, multi-agents, wireless communication and autonomous behaviour are of paramount importance. One of the most crucial parts of this overall system is the vision system. This system could deter...

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Main Author:	Mohd Nadhir, Ab Wahab
Format:	Thesis
Language:	English
Subjects:	MiroSot Image processing Optical data processing Optical pattern recognition Computer vision Robot vision Artificial vision
Online Access:	http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/63446/1/Page%201-24.pdf http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/63446/2/Full%20text.pdf
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id	my-unimap-63446
record_format	uketd_dc
spelling	my-unimap-634462019-11-29T04:04:08Z Depth estimation from vision based wireless monocular camera sensor for soccer robot applications in MiroSot Middle League Mohd Nadhir, Ab Wahab Assoc. Prof. Dr. Kenneth Sundaraj MiroSot is an area where robotics fields such as mobility structure, artificial intelligence. vision system, multi-agents, wireless communication and autonomous behaviour are of paramount importance. One of the most crucial parts of this overall system is the vision system. This system could determine the winning factor during a MiroSot competition. In this project, we are implementing a local vision system to determine the motion and behaviour of the soccer robot instead of a global vision system that is currently being used. Since there is limitation in the size of the mobile robot as stated in the MiroSot rules, hence some modification needs to be done on the vision system. A monocular vision system is used as an alternative to the more popular stereo vision system without neglecting the depth estimation aspect to determine ball distance and position. By using the CamShift algorithm to detect the ball, we use the ball diameter to estimate the distance of the ball. The calibration data has been tested and has shows that it gives accurate and precise distance estimation. By using this information, the soccer robot will try to avoid any obstacle by performing a sequence of movements. The details on how we obtained the calibration data for depth estimation and the testing phase have also been provided in this thesis. We also show how we test our control system and the results can be found in result chapter. The long term goal behind this project is to create a biologically inspired vision system for the soccer robot. Universiti Malaysia Perlis (UniMAP) 2012 Thesis en http://dspace.unimap.edu.my:80/xmlui/handle/123456789/63446 http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/63446/1/Page%201-24.pdf 055043367553e95acd70cc6e35aaffb1 http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/63446/2/Full%20text.pdf 3b8cf5acef0d776bc46cd8ecca70f31a http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/63446/3/license.txt 8a4605be74aa9ea9d79846c1fba20a33 MiroSot Image processing Optical data processing Computers, Optical Optical pattern recognition Computer vision Robot vision Artificial vision School of Mechatronic Engineering
institution	Universiti Malaysia Perlis
collection	UniMAP Institutional Repository
language	English
advisor	Assoc. Prof. Dr. Kenneth Sundaraj
topic	MiroSot Image processing Optical data processing MiroSot Optical pattern recognition Computer vision Robot vision Artificial vision
spellingShingle	MiroSot Image processing Optical data processing MiroSot Optical pattern recognition Computer vision Robot vision Artificial vision Mohd Nadhir, Ab Wahab Depth estimation from vision based wireless monocular camera sensor for soccer robot applications in MiroSot Middle League
description	MiroSot is an area where robotics fields such as mobility structure, artificial intelligence. vision system, multi-agents, wireless communication and autonomous behaviour are of paramount importance. One of the most crucial parts of this overall system is the vision system. This system could determine the winning factor during a MiroSot competition. In this project, we are implementing a local vision system to determine the motion and behaviour of the soccer robot instead of a global vision system that is currently being used. Since there is limitation in the size of the mobile robot as stated in the MiroSot rules, hence some modification needs to be done on the vision system. A monocular vision system is used as an alternative to the more popular stereo vision system without neglecting the depth estimation aspect to determine ball distance and position. By using the CamShift algorithm to detect the ball, we use the ball diameter to estimate the distance of the ball. The calibration data has been tested and has shows that it gives accurate and precise distance estimation. By using this information, the soccer robot will try to avoid any obstacle by performing a sequence of movements. The details on how we obtained the calibration data for depth estimation and the testing phase have also been provided in this thesis. We also show how we test our control system and the results can be found in result chapter. The long term goal behind this project is to create a biologically inspired vision system for the soccer robot.
format	Thesis
author	Mohd Nadhir, Ab Wahab
author_facet	Mohd Nadhir, Ab Wahab
author_sort	Mohd Nadhir, Ab Wahab
title	Depth estimation from vision based wireless monocular camera sensor for soccer robot applications in MiroSot Middle League
title_short	Depth estimation from vision based wireless monocular camera sensor for soccer robot applications in MiroSot Middle League
title_full	Depth estimation from vision based wireless monocular camera sensor for soccer robot applications in MiroSot Middle League
title_fullStr	Depth estimation from vision based wireless monocular camera sensor for soccer robot applications in MiroSot Middle League
title_full_unstemmed	Depth estimation from vision based wireless monocular camera sensor for soccer robot applications in MiroSot Middle League
title_sort	depth estimation from vision based wireless monocular camera sensor for soccer robot applications in mirosot middle league
granting_institution	Universiti Malaysia Perlis (UniMAP)
granting_department	School of Mechatronic Engineering
url	http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/63446/1/Page%201-24.pdf http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/63446/2/Full%20text.pdf
_version_	1747836856466145280

Depth estimation from vision based wireless monocular camera sensor for soccer robot applications in MiroSot Middle League

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