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.…
| 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 Schnekenburger GND, 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): |  Urheberrechtlich geschützt |