A Low Cost Ground Truth Detection System for RoboCup Using the Kinect

Abstract

Ground truth detection systems can be a crucial step in evaluating and improving algorithms for self-localization on mobile robots. Selecting a ground truth system depends on its cost, as well as on the detail and accuracy of the information it provides. In this paper, we present a low cost, portable and real-time solution constructed using the Microsoft Kinect RGB-D Sensor. We use this system to find the location of robots and the orange ball in the Standard Platform League (SPL) environment in the RoboCup competition. This system is fairly easy to calibrate, and does not require any special identifiers on the robots. We also provide a detailed experimental analysis to measure the accuracy of the data provided by this system. Although presented for the SPL, this system can be adapted for use with any indoor structured environment where ground truth information is required.

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Document Details

Document Type
Technical Report
Publication Date
Jul 01, 2011
Accession Number
AD1024589

Entities

People

  • Peter Stone
  • Piyush Khandelwal

Organizations

  • University of Texas at Austin

Tags

Communities of Interest

  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Accuracy
  • Algorithms
  • Artificial Intelligence
  • Automata Theory
  • Autonomous Navigation
  • Calibration
  • Clustering
  • Computer Science
  • Computer Vision
  • Cost Effectiveness
  • Costs
  • Detection
  • Detectors
  • Digital Data
  • Environment
  • Errors
  • Identification
  • Pattern Recognition
  • Platforms
  • Point Clouds
  • Robot Navigation
  • Robots
  • Space Based
  • Standards
  • Supervised Machine Learning
  • Three Dimensional

Fields of Study

  • Computer science

Readers

  • Computer Vision.
  • Life Cycle Cost Analysis
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy