Ball Distance Estimation and Tracking System of Humanoid Soccer Robot
- Cite this paper as:
- Budiharto W., Kanigoro B., Noviantri V. (2014) Ball Distance Estimation and Tracking System of Humanoid Soccer Robot. In: Linawati, Mahendra M.S., Neuhold E.J., Tjoa A.M., You I. (eds) Information and Communication Technology. ICT-EurAsia 2014. Lecture Notes in Computer Science, vol 8407. Springer, Berlin, Heidelberg
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.
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