Library Open Repository

Development of an Illumination Identification System for the AIBO Robot

Downloads

Downloads per month over past year

Zehmeister, MS (2005) Development of an Illumination Identification System for the AIBO Robot. Honours thesis, University of Tasmania. (Unpublished)

[img]
Preview
PDF
mszThesisFinal.pdf | Download (3MB)
Available under University of Tasmania Standard License.

Abstract

The Four Legged League is a division of the RoboCup initiative that uses Sony AIBO robots to further robotics research. Most participants implement vision systems that use the colour of objects to perform identification. Calibration of the colour classification system must be done manually and any changes to the lighting of the environment after calibration reduces the accuracy of the system, often to a point at which the robot is effectively blind. This study investigates the relationships in the colour data of image pixels between different lighting conditions in an effort to identify trends that can be used as the basis of a rule-based system. The aim of the system is to identify the current lighting level as one of a set of known conditions. The proposed system uses the colour data of image pixels and information about the AIBO's location and orientation to identify lighting levels, allowing a vision system to switch to an appropriate pre-cofigured calibration.

Item Type: Other
Keywords: AIBO, Robocup, illumination
Publisher: Honours thesis, University of Tasmania
Date Deposited: 07 Jan 2006
Last Modified: 18 Nov 2014 03:10
URI: http://eprints.utas.edu.au/id/eprint/247
Item Statistics: View statistics for this item

Repository Staff Only (login required)

Item Control Page Item Control Page