Abstract
As the RoboCup leagues evolve, higher requirements (e.g. object recognition skills) are imposed over the robot vision systems, which cannot be fulfilled using simple mechanisms as pure color segmentation or visual sonar. In this context the main objective of this article is to propose a robust object recognition system, based on the wide-baseline matching between a reference image (object model) and a test image where the object is searched. The wide baseline matching is implemented using local interest points and invariant descriptors. The proposed object recognition system is validated in two real-world tasks, recognition of objects in the RoboCup @Home league, and detection of robots in the humanoid league.
Keywords
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.
This research was funded by Millennium Nucleus Center for Web Research, Grant P04-067-F, Chile.
Download to read the full chapter text
Chapter PDF
Similar content being viewed by others
References
Ferrari, V., Tuytelaars, T., Van Gool., L.: Simultaneous Object.Recognition and Segmentation by Image Exploration. In: Pajdla, T., Matas, J(G.) (eds.) ECCV 2004. LNCS, vol. 3021, pp. 40–54. Springer, Heidelberg (2004)
Harris, C., Stephens, M.: A combined corner and edge detector. In: Proc. 4th Alvey Vision Conf., Manchester, pp. 147–151 (1998)
Lowe, D.: Local feature view clustering for 3D object recognition. In: IEEE Conference on Computer Vision and Pattern Recognition, Hawaii, pp. 682–688 (2001)
Lowe, D.: Distinctive Image Features from Scale-Invariant Keypoints. Int. Journal of Computer Vision 60(2), 91–110 (2004)
Loncomilla, P., Ruiz-del-Solar, J.: Gaze Direction Determination of Opponents and Teammates. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds.) RoboCup 2005. LNCS (LNAI), vol. 4020. Springer, Heidelberg (2006)
Loncomilla, P., Ruiz-del-Solar, J.: Improving SIFT-based Object Recognition for Robot Applications. In: Roli, F., Vitulano, S. (eds.) ICIAP 2005. LNCS, vol. 3617, pp. 1084–1092. Springer, Heidelberg (2005)
Loncomilla, P., Ruiz-del-Solar, J.: A Fast Probabilistic Model for Hypothesis Rejection in SIFT-Based Object Recognition. In: Martínez-Trinidad, J.F., Carrasco Ochoa, J.A., Kittler, J. (eds.) CIARP 2006. LNCS, vol. 4225, pp. 696–705. Springer, Heidelberg (2006)
Ruiz-del-Solar, J., Loncomilla, P., Vallejos, P.: An Automated Refereeing and Analysis Tool for the Four-Legged League. LNCS. Springer (2006)
Mikolajczyk, K., Schmid, C.: Scale & Affine Invariant Interest Point Detectors. Int. Journal of Computer Vision 60(1), 63–96 (2004)
Mikolajczyk, K., Schmid, C.: A performance evaluation of local descriptors. IEEE Trans. Pattern Anal. Machine Intell. 27(10), 1615–1630 (2005)
Mikolajczyk, K., Tuytelaars, T., Schmid, C., Zisserman, A., Matas, J., Schaffalitzky, F., Kadir, T., Van Gool, L.: A Comparison of Affine Region Detectors. Int. Journal of Computer Vision 65(1-2), 43–72 (2005)
Schaffalitzky, F., Zisserman, A.: Automated location matching in movies. Computer Vision and Image Understanding 92(2-3), 236–264 (2003)
Schmid, C., Mohr, R.: Local grayvalue invariants for image retrieval. IEEE Trans. Pattern Anal. Machine Intell. 19(5), 530–534 (1997)
Se, S., Lowe, D., Little, J.: Mobile robot localization and mapping with uncertainty using scale-invariant visual landmarks. Int. Journal of Robotics Research 21(8), 735–758 (2002)
Vallejos, Left blank for blindness purposes (2007)
Bay, H., Tuytelaars, T., Gool, L.V.: SURF: Speeded Up Robust Features. In: Leonardis, A., Bischof, H., Pinz, A. (eds.) ECCV 2006. LNCS, vol. 3951, pp. 404–417. Springer, Heidelberg (2006)
UCH100 database. Electronically, http://vision.die.uchile.cl/
RoboCup @Home 2007 competition rule book. Electronically, http://www.ai.rug.nl/robocupathome/documents/rulebook.pdf
Ruiz-del-Solar, J., Norambuena, S., Bernuy, F., Cubillos, S., Mascaró, M., Olavaria, I., Solís, C., Toro, C., Vargas, J.: UChile HomeBreakers, Team Description Paper (2007), http://www.robocup.cl
Ruiz-del-Solar, J., Vallejos, P., Parra, I., Testart, J., Ravest, P., Briones, R., Avilés, M.I.: UChile RoadRunners, Team Description Paper (2007), http://www.robocup.cl
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Loncomilla, P., Ruiz-del-Solar, J. (2008). Robust Object Recognition Using Wide Baseline Matching for RoboCup Applications. In: Visser, U., Ribeiro, F., Ohashi, T., Dellaert, F. (eds) RoboCup 2007: Robot Soccer World Cup XI. RoboCup 2007. Lecture Notes in Computer Science(), vol 5001. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-68847-1_46
Download citation
DOI: https://doi.org/10.1007/978-3-540-68847-1_46
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-68846-4
Online ISBN: 978-3-540-68847-1
eBook Packages: Computer ScienceComputer Science (R0)