78 research outputs found
RoboCup@Home: Analysis and results of evolving competitions for domestic and service robots
Scientific competitions are becoming more common in many research areas of artificial intelligence and robotics, since they provide a shared testbed for comparing different solutions and enable the exchange of research results. Moreover, they are interesting for general audiences and industries. Currently, many major research areas in artificial intelligence and robotics are organizing multiple-year competitions that are typically associated with scientific conferences. One important aspect of such competitions is that they are organized for many years. This introduces a temporal evolution that is interesting to analyze. However, the problem of evaluating a competition over many years remains unaddressed. We believe that this issue is critical to properly fuel changes over the years and measure the results of these decisions. Therefore, this article focuses on the analysis and the results of evolving competitions.
In this article, we present the RoboCup@Home competition, which is the largest worldwide competition for domestic service robots, and evaluate its progress over the past seven years. We show how the definition of a proper scoring system allows for desired functionalities to be related to tasks and how the resulting analysis fuels subsequent changes to achieve general and robust solutions implemented by the teams. Our results show not only the steadily increasing complexity of the tasks that RoboCup@Home robots can solve but also the increased performance for all of the functionalities addressed in the competition. We believe that the methodology used in RoboCup@Home for evaluating competition advances and for stimulating changes can be applied and extended to other robotic competitions as well as to multi-year research projects involving Artificial Intelligence and Robotics
Recognizing Teamwork Activity In Observations Of Embodied Agents
This thesis presents contributions to the theory and practice of team activity recognition. A particular focus of our work was to improve our ability to collect and label representative samples, thus making the team activity recognition more efficient. A second focus of our work is improving the robustness of the recognition process in the presence of noisy and distorted data. The main contributions of this thesis are as follows: We developed a software tool, the Teamwork Scenario Editor (TSE), for the acquisition, segmentation and labeling of teamwork data. Using the TSE we acquired a corpus of labeled team actions both from synthetic and real world sources. We developed an approach through which representations of idealized team actions can be acquired in form of Hidden Markov Models which are trained using a small set of representative examples segmented and labeled with the TSE. We developed set of team-oriented feature functions, which extract discrete features from the high-dimensional continuous data. The features were chosen such that they mimic the features used by humans when recognizing teamwork actions. We developed a technique to recognize the likely roles played by agents in teams even before the team action was recognized. Through experimental studies we show that the feature functions and role recognition module significantly increase the recognition accuracy, while allowing arbitrary shuffled inputs and noisy data
Game Plan: What AI can do for Football, and What Football can do for AI
The rapid progress in artificial intelligence (AI) and machine learning has opened unprecedented
analytics possibilities in various team and individual sports, including baseball, basketball, and
tennis. More recently, AI techniques have been applied to football, due to a huge increase in
data collection by professional teams, increased computational power, and advances in machine
learning, with the goal of better addressing new scientific challenges involved in the analysis of
both individual players’ and coordinated teams’ behaviors. The research challenges associated
with predictive and prescriptive football analytics require new developments and progress at the
intersection of statistical learning, game theory, and computer vision. In this paper, we provide
an overarching perspective highlighting how the combination of these fields, in particular, forms a
unique microcosm for AI research, while offering mutual benefits for professional teams, spectators,
and broadcasters in the years to come. We illustrate that this duality makes football analytics
a game changer of tremendous value, in terms of not only changing the game of football itself,
but also in terms of what this domain can mean for the field of AI. We review the state-of-theart and exemplify the types of analysis enabled by combining the aforementioned fields, including
illustrative examples of counterfactual analysis using predictive models, and the combination of
game-theoretic analysis of penalty kicks with statistical learning of player attributes. We conclude
by highlighting envisioned downstream impacts, including possibilities for extensions to other sports
(real and virtual)
Automated Top View Registration of Broadcast Football Videos
In this paper, we propose a novel method to register football broadcast video
frames on the static top view model of the playing surface. The proposed method
is fully automatic in contrast to the current state of the art which requires
manual initialization of point correspondences between the image and the static
model. Automatic registration using existing approaches has been difficult due
to the lack of sufficient point correspondences. We investigate an alternate
approach exploiting the edge information from the line markings on the field.
We formulate the registration problem as a nearest neighbour search over a
synthetically generated dictionary of edge map and homography pairs. The
synthetic dictionary generation allows us to exhaustively cover a wide variety
of camera angles and positions and reduce this problem to a minimal per-frame
edge map matching procedure. We show that the per-frame results can be improved
in videos using an optimization framework for temporal camera stabilization. We
demonstrate the efficacy of our approach by presenting extensive results on a
dataset collected from matches of football World Cup 2014
- …