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Detection and Localization of Features on a Soccer Field with Feedforward Fully Convolutional Neural Networks (FCNN) for the Adult-Size Humanoid Robot Sweaty

  • For the RoboCup Soccer AdultSize League the humanoid robot Sweaty uses a single fully convolutional neural network to detect and localize the ball, opponents and other features on the field of play. This neural network can be trained from scratch in a few hours and is able to perform in real-time within the constraints of computational resources available on the robot. The time it takes to precessFor the RoboCup Soccer AdultSize League the humanoid robot Sweaty uses a single fully convolutional neural network to detect and localize the ball, opponents and other features on the field of play. This neural network can be trained from scratch in a few hours and is able to perform in real-time within the constraints of computational resources available on the robot. The time it takes to precess an image is approximately 11 ms. Balls and goal posts are recalled in 99 % of all cases (94.5 % for all objects) accompanied by a false detection rate of 1.2 % (5.2 % for all). The object detection and localization helped Sweaty to become finalist for the RoboCup 2017 in Nagoya.show moreshow less

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Metadaten
Document Type:Conference Proceeding
Conference Type:Konferenzartikel
Zitierlink: https://opus.hs-offenburg.de/2655
Bibliografische Angaben
Title (English):Detection and Localization of Features on a Soccer Field with Feedforward Fully Convolutional Neural Networks (FCNN) for the Adult-Size Humanoid Robot Sweaty
Conference:12th Workshop on Humanoid Soccer Robots at 17th IEEE-RAS International Conference on Humanoid Robots, Birmingham, UK, November 15th, 2017
Author:Fabian SchnekenburgerStaff MemberGND, Manuel ScharffenbergStaff MemberGND, Michael WülkerStaff MemberORCiDGND, Ulrich HochbergStaff MemberGND, Klaus DorerStaff MemberORCiDGND
Year of Publication:2017
Publisher:IEEE
Page Number:6
Parent Title (English):Proceedings of the 12th Workshop on Humanoid Soccer Robots, 17th IEEE-RAS International Conference on Humanoid Robots
URL:http://lofarolabs.com/events/robocup/ws17/papers/Humanoids_RoboCup_Workshop_2017_pape_4.pdf
URN:https://urn:nbn:de:bsz:ofb1-opus4-26557
Language:English
Inhaltliche Informationen
Institutes:Fakultät Maschinenbau und Verfahrenstechnik (M+V)
Institutes:Bibliografie
Projekte / Sweaty
Formale Angaben
Open Access: Open Access 
Licence (German):License LogoUrheberrechtlich geschützt