Improving Percept Reliability in the Sony Four-Legged Robot League

Abstract. This paper presents selected methods used by the vision system of the GermanTeam, the World Champion in the Sony Four-Legged League in 2004. Color table generalization is introduced as a means to achieve a larger independence of the lighting situation. Camera calibration is necessary to deal with the weaknesses of the new platform used in the league, the Sony Aibo ERS-7. Since the robot camera uses a rolling shutter, motion compensation is required to improve the information extracted from the camera images.

• Type: Conference
• Year: 2005
• Where: ROBOCUP
• Authors: Walter Nisticò, Thomas Röfer
• Keywords: Color Table Generalization, ROBOCUP 2005, Sony Aibo ERS-7, Sony Four-Legged League