Colored Ball Position Tracking Method for Goalkeeper Humanoid Robot Soccer
Abstract: The goalkeeper robot
in a robot soccer game must be able to detect position of the ball and block
the ball into the goal. Identifying the location of the ball using robot vision
becomes very important in addition to the mechanical motion of the robot. This
paper proposed method to track colored ball position for goalkeeper robot.
First, image is captured with web camera and then color filtering based on HSL
color model performed on each image frame in the video. After that, images from
filtering process are detected its blob by labeling nearest connected
components. The largest blob in image represents the ball. The next step is detection
of ball position using 9-Cells coordinate. Ball position coordinate is updated
in some period of time and then sends to robot controller to conduct the
robot's movements appropriately. Experiment results show that system is able to
detect the ball and its position in 9-Cells coordinate which can be used by
goalkeeper robot soccer controller to block the ball.
Author: Arif Rahman, Nuryono
Satya Widodo
Journal Code: jptkomputergg130019