In this paper the architecture of a 4 legged soccer robot is divided into a hierarchy of behaviors, where each behavior represents an independent sense-think-act loop. Based on this view we have implemented a behaviorbased vision system, improving performance due to object-specific image processing, behavior-specific image processing and behavior-specific self localization. The system was tested under various lighting conditions, off-line using sets of images, and on-line in real tests for a robot in the role of goalkeeper. It appeared hat the performance of the goalie doubled, that it could play under a wider range of lighting and environmental conditions and used less CPU power. © Springer-Verlag Berlin Heidelberg 2006.
CITATION STYLE
Mantz, F., Jonker, P., & Caarls, W. (2006). Behavior-based vision on a 4 legged soccer robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 4020 LNAI, pp. 480–487). Springer Verlag. https://doi.org/10.1007/11780519_44
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