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Robot Goalkeeper: A robotic goalkeeper based on machine vision and motor control
Högskolan i Gävle, Akademin för teknik och miljö, Avdelningen för elektronik, matematik och naturvetenskap.
2018 (engelsk)Independent thesis Advanced level (degree of Master (Two Years)), 20 poäng / 30 hpOppgave
Abstract [en]

This report shows a robust and efficient implementation of a speed-optimized algorithm for object recognition, 3D real world location and tracking in real time. It details a design that was focused on detecting and following objects in flight as applied to a football in motion. An overall goal of the design was to develop a system capable of recognizing an object and its present and near future location while also actuating a robotic arm in response to the motion of the ball in flight.

The implementation made use of image processing functions in C++, NVIDIA Jetson TX1, Sterolabs’ ZED stereoscopic camera setup in connection to an embedded system controller for the robot arm. The image processing was done with a textured background and the 3D location coordinates were applied to the correction of a Kalman filter model that was used for estimating and predicting the ball location.

A capture and processing speed of 59.4 frames per second was obtained with good accuracy in depth detection while the ball was well tracked in the tests carried out.

sted, utgiver, år, opplag, sider
2018. , s. 63
Emneord [en]
Object detection, 3D reconstruction, Object tracking, Robot goalkeeper, C++, OpenCV, CUDA, MATLAB, Image processing, Machine vision, Linux OS, GPU, NVIDIA TX1, Stereolabs ZED
HSV kategori
Identifikatorer
URN: urn:nbn:se:hig:diva-27561OAI: oai:DiVA.org:hig-27561DiVA, id: diva2:1231907
Eksternt samarbeid
Worxsafe AB
Fag / kurs
Electronics
Utdanningsprogram
Electronics/Automation – master's programme (two years) (sv or eng)
Veileder
Examiner
Tilgjengelig fra: 2018-08-10 Laget: 2018-07-10 Sist oppdatert: 2018-08-10bibliografisk kontrollert

Open Access i DiVA

Robot Goalkeeoer(1555 kB)118 nedlastinger
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