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A Realistic Simulator for Humanoid Soccer Robot Using Particle Filter

  • Yao Fu
  • Hamid Moballegh
  • Raúl Rojas
  • Longxu Jin
  • Miao Wang
Chapter
Part of the Studies in Computational Intelligence book series (SCI, volume 480)

Abstract

This work presents a realistic simulator called Reality Sim for humanoid soccer robots especially in simulation of computer vision. As virtual training, testing and evaluating environment, simulation platforms have become one significant component in Soccer Robot projects. Nevertheless, the simulated environment in a simulation platform usually has a big gap with the realistic world. In order to solve this issue, we demonstrate a more realistic simulation system which is called Reality Sim with numerous real images. With this system, the computer vision code could be easily tested on the simulation platform. For this purpose, an image database with a large quantity of images recorded in various camera poses is built. Furthermore, if the camera pose of an image is not included in the database, an interpolation algorithm is used to reconstruct a brand-new realistic image of that pose such that a realistic image could be provided on every robot camera pose. Systematic empirical results illustrate the efficiency of the approach while it effectively simulates a more realistic environment for simulation so that it satisfies the requirement of humanoid soccer robot projects.

Notes

Acknowledgments

The authors gratefully acknowledge Daniel Seifert for his knowledge of the project and other members of FUmanoid Team for providing the software base for this work. A video which is relevant to the chapter is linked: http://www.youtube.com/watch?v=TjjBYVMxZak.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Yao Fu
    • 1
    • 2
    • 3
  • Hamid Moballegh
    • 3
  • Raúl Rojas
    • 3
  • Longxu Jin
    • 1
  • Miao Wang
    • 3
  1. 1.ChangChun Institute of Optics, Fine Mechanics and PhysicsChinese Academe of SciencesChangChunChina
  2. 2.Graduate University of Chinese Academe of SciencesBeijingChina
  3. 3.Department of Mathematics and Computer ScienceFreie Universität BerlinBerlinGermany

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