(A) Vision for 2050 - Context-Based Image Understanding for a Human-Robot Soccer Match

We believe it is possible to create the visual subsystem needed for the RoboCup 2050 challenge - a soccer match between humans and robots - within the next decade.  In this position paper, we argue, that the basic techniques are available, but the main challenge will be to achieve the necessary robustness. We propose to address this challenge through the use of probabilistically modeled context, so for instance a visually indistinct circle is  accepted as the ball, if it fits well with the ball's motion model and vice versa.Our vision is accompanied by a sequence of (partially already conducted) experiments for its verification.  In these experiments, a human soccer player carries a helmet with a camera and an inertial sensor and the vision system has to extract all information from that data, a humanoid robot would need to take the human's place

Coordinated Pitch Observation for a Humanoid Robot Soccer Team

Abstract—While the quality of matches between the teams in the RoboCup Standard Platform League has increased a lot, there are still certain situations that prevent the game from progressing. One of the most severe ones is when a team loses track of the ball, because it cannot score goals or prevent the opponent team from scoring goals without knowing where the ball is. In this paper a method is presented to quickly find the ball again by searching the least-recently observed parts of the pitch. A consistent model shared by all robots of the team to identify these parts of the field is explained, as well as the procedure to coordinate the observation among the teammates, such that a varying number of robots can participate in the process. I

Importancia de la aplicación de retos matemáticos para el desarrollo del pensamiento matemático en estudiantes de secundaria

El presente trabajo plasma avances de una investigación en proceso, cuyo objetivo es potencializar el pensamiento matemático mediante la aplicación de retos matemáticos a estudiantes de secundaria e identificar su nivel de comprensión lectora, para coadyuvar al desempeño académico. La metodología es de corte cuantitativo, se utilizarán dos instrumentos, cuestionario y pruebas de comprensión lectora. Este estudio contribuye al beneficio de los alumnos, porque consiste en desarrollar las competencias matemáticas, habilidades y mejorar su desempeño académico, lo cual produce un impacto positivo en la sociedad, al formar jóvenes capaces de enfrentarse a los problemas de la vida

Image-based Homing Using a Self-organizing Feature Map

. This paper presents a biologically inspired method for the navigation of autonomous mobile systems. The method calculates the way from a current position to a target position using one-dimensional 360° images, taken at these positions. The correlations between the two images are generated by using a modified version of Kohonen's self-organizing feature map. The direction to the target position is calculated from the weight vectors of the trained network. Experiments with a small robot prove the method to be stable and exact. 1 INTRODUCTION The navigation of autonomous mobile robots is still an unsolved problem. Robots operate in a threedimensional, changing world. In this environment they have to navigate in real time. For this reason there has to be a suitable technique for navigation. Methods that are based on three-dimensional models are very complex: it takes a lot of time to match the sensor data with three-dimensional objects stored in large databases. Therefore it seems to m..

Building consistent laser scan maps

The paper presents an approach to generate consistent maps in real-time using a laser range sensor. Its application scenario is the Bremen Autonomous Wheelchair “Rolland ” that is developed as an autonomous transport vehicle for hospitals. The paper consists of two parts: in the first one, a laser scan matching method is presented that in several aspects improves an algorithm originally proposed by Weiß et al. [14]. In the second part, a mapping approach is introduced that is based on the scan matching method. Using a laser scanner mounted on the wheelchair, it generates consistent maps, i.e. maps that do not have discontinuities resulting from the accumulation of errors in the mapping process. As such accumulations cannot be avoided, the resulting errors are correcte

Region-based segmentation with ambiguous color classes and 2-d motion compensation,” in RoboCup 2007: Robot Soccer World Cup

Abstract. This paper presents a new approach for color segmentation, in which colors are not only mapped to unambiguous but also to ambiguous color classes. The ambiguous color classes are resolved based on their unambiguous neighbors in the image. In contrast to other approaches, the neighborhood is determined on the level of regions, not on the level of pixels. Thereby, large regions with ambiguous color classes can be resolved. The method is fast enough to run on a Sony AIBO in real time (30 Hz), leaving enough resources for the other tasks that have to be performed to play soccer. In addition, the paper discusses the problem of motion compensation, i. e. reversing the effects of a rolling shutter on the images taken by a moving camera.