%0 Conference Proceedings
%T Ball Distance Estimation and Tracking System of Humanoid Soccer Robot
%+ Bina Nusantara University [Jakarta]
%A Budiharto, Widodo
%A Kanigoro, Bayu
%A Noviantri, Viska
%Z Part 1: Information & Communication Technology-EurAsia Conference 2014, ICT-EurAsia 2014
%< avec comité de lecture
%( Lecture Notes in Computer Science
%B 2nd Information and Communication Technology - EurAsia Conference (ICT-EurAsia)
%C Bali, Indonesia
%Y David Hutchison
%Y Takeo Kanade
%Y Bernhard Steffen
%Y Demetri Terzopoulos
%Y Doug Tygar
%Y Gerhard Weikum
%Y Linawati
%Y Made Sudiana Mahendra
%Y Erich J. Neuhold
%Y A Min Tjoa
%Y Ilsun You
%Y Josef Kittler
%Y Jon M. Kleinberg
%Y Alfred Kobsa
%Y Friedemann Mattern
%Y John C. Mitchell
%Y Moni Naor
%Y Oscar Nierstrasz
%Y C. Pandu Rangan
%I Springer
%3 Information and Communication Technology
%V LNCS-8407
%P 170-178
%8 2014-04-14
%D 2014
%R 10.1007/978-3-642-55032-4_17
%K Kalman Filter
%K Humanoid Soccer
%K object detection
%Z Computer Science [cs]
%Z Humanities and Social Sciences/Library and information sciencesConference papers
%X Modern Humanoid Soccer Robots in uncontrolled environments need to be based on vision and versatile. This paper propose a method for object measurement and ball tracking method using Kalman Filter for Humanoid Soccer, because the ability to accurately track a ball is one of the important features for processing high-definition image. A color-based object detection is used for detecting a ball while PID controller is used for controlling pan tilt camera system. We also modify the robots controller CM-510 in order able to communicate efficiently using main controller. The proposed method is able to determine and estimate the position of a ball and kick the ball correctly with the success percentage greater than 90%. We evaluate and present the performance of the system.
%G English
%Z TC 5
%Z TC 8
%2 https://inria.hal.science/hal-01397187/document
%2 https://inria.hal.science/hal-01397187/file/978-3-642-55032-4_17_Chapter.pdf
%L hal-01397187
%U https://inria.hal.science/hal-01397187
%~ SHS
%~ IFIP-LNCS
%~ IFIP
%~ IFIP-TC
%~ IFIP-TC5
%~ IFIP-TC8
%~ IFIP-ICT-EURASIA
%~ IFIP-LNCS-8407