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Robot Goalkeeper : A robotic goalkeeper based on machine vision and motor control

This report shows a robust and efficient implementation of a speed-optimized algorithm for object recognition, 3D real world location and tracking in real time. It details a design that was focused on detecting and following objects in flight as applied to a football in motion. An overall goal of the design was to develop a system capable of recognizing an object and its present and near future location while also actuating a robotic arm in response to the motion of the ball in flight. The implementation made use of image processing functions in C++, NVIDIA Jetson TX1, Sterolabs’ ZED stereoscopic camera setup in connection to an embedded system controller for the robot arm. The image processing was done with a textured background and the 3D location coordinates were applied to the correction of a Kalman filter model that was used for estimating and predicting the ball location. A capture and processing speed of 59.4 frames per second was obtained with good accuracy in depth detection while the ball was well tracked in the tests carried out.

Identiferoai:union.ndltd.org:UPSALLA1/oai:DiVA.org:hig-27561
Date January 2018
CreatorsAdeboye, Taiyelolu
PublisherHögskolan i Gävle, Avdelningen för elektronik, matematik och naturvetenskap
Source SetsDiVA Archive at Upsalla University
LanguageEnglish
Detected LanguageEnglish
TypeStudent thesis, info:eu-repo/semantics/bachelorThesis, text
Formatapplication/pdf
Rightsinfo:eu-repo/semantics/openAccess

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