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Robot Goalkeeper: A robotic goalkeeper based on machine vision and motor control
University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences.
2018 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
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.

Place, publisher, year, edition, pages
2018. , p. 63
Keywords [en]
Object detection, 3D reconstruction, Object tracking, Robot goalkeeper, C++, OpenCV, CUDA, MATLAB, Image processing, Machine vision, Linux OS, GPU, NVIDIA TX1, Stereolabs ZED
National Category
Robotics Embedded Systems
Identifiers
URN: urn:nbn:se:hig:diva-27561OAI: oai:DiVA.org:hig-27561DiVA, id: diva2:1231907
External cooperation
Worxsafe AB
Subject / course
Electronics
Educational program
Electronics/Automation – master's programme (two years) (sv or eng)
Supervisors
Examiners
Available from: 2018-08-10 Created: 2018-07-10 Last updated: 2018-08-10Bibliographically approved

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Robot Goalkeeoer(1555 kB)3 downloads
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Type fulltextMimetype application/pdf

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Department of Electronics, Mathematics and Natural Sciences
RoboticsEmbedded Systems

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard-cite-them-right
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • sv-SE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • de-DE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf