Advanced Perception for Robots in a Closed World Environment

  • Mahmoud El ShaikhEmail author
  • Andreas Koch
  • Bernd Eckstein
  • Kai Häussermann
  • Oliver Zweigle
  • Paul Levi
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 193)


A basic requirement for all mobile robots is a precise, accurate and fast perception of the environment to allow intelligent behavior through interaction with its surrounding. This paper introduces a new method for a reliable, fast and efficient purely omni-directional vision based mobile robot navigation for a closed world environment. The proposed method enables a robot that is driving at a high-speed to detect and classify different objects of different colors by only calibrating one dominant environment color. The correctness and the effectiveness of the introduced approach was evaluated successfully in the highly dynamical RoboCup Middle Size Soccer scenario.


Search Space Mobile Robot Color Intensity Radial Line Calibration Phase 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Mahmoud El Shaikh
    • 1
    Email author
  • Andreas Koch
    • 2
  • Bernd Eckstein
    • 2
  • Kai Häussermann
    • 2
  • Oliver Zweigle
    • 2
  • Paul Levi
    • 2
  1. 1.German University of CairoNew CairoEgypt
  2. 2.University of StuttgartStuttgartGermany

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