Solving the time lapse from vision system in a robot soccer game using kalman filter

Página do item simplificado
dc.contributor.authorPAULI, G.
dc.contributor.authorFlávio Tonidandel
dc.contributor.authorOrcidhttps://orcid.org/0000-0003-0345-668X
dc.date.accessioned2022-01-12T21:56:06Z
dc.date.available2022-01-12T21:56:06Z
dc.date.issued2019-10-25
dc.description.abstract© 2019 IEEE.This article discusses some effects present in the Small Size League (SSL) category of robot soccer. The dynamic of this category requires a constant update about the state of objects in the field, however, the time to generate an update is smaller than the time between information packets arriving for teams. This latency could have a negative impact in the performance of the software, which could become limited due to the camera's capability. In order to solve this kind of obstacle, a routine was elaborated using a timer to perform the update every 1ms. The update consists of using the dynamic model of the objects combined with the Kalman filter to fill the lack of information while a new package is not available, so the software can have a reliable prediction of the object's position in the field with higher frequency.
dc.description.firstpage7
dc.description.lastpage12
dc.identifier.citationPAULI, G.; TONIDANDEL, F. Solving the time lapse from vision system in a robot soccer game using kalman filter. Proceedings - 2019 Latin American Robotics Symposium, 2019 Brazilian Symposium on Robotics and 2019 Workshop on Robotics in Education, LARS/SBR/WRE 2019, p. 7-12, Oct. 2019.
dc.identifier.doi10.1109/LARS-SBR-WRE48964.2019.00010
dc.identifier.urihttps://repositorio.fei.edu.br/handle/FEI/3701
dc.relation.ispartofProceedings - 2019 Latin American Robotics Symposium, 2019 Brazilian Symposium on Robotics and 2019 Workshop on Robotics in Education, LARS/SBR/WRE 2019
dc.rightsAcesso Restrito
dc.subject.otherlanguageBall
dc.subject.otherlanguageDelay
dc.subject.otherlanguageDiscrete
dc.subject.otherlanguageFilter
dc.subject.otherlanguageKalman
dc.subject.otherlanguageLatency
dc.subject.otherlanguageModel
dc.subject.otherlanguageRobocup
dc.subject.otherlanguageRoboFEI
dc.subject.otherlanguageSSL
dc.subject.otherlanguageSsl vision
dc.subject.otherlanguageTimer
dc.subject.otherlanguageVision
dc.titleSolving the time lapse from vision system in a robot soccer game using kalman filter
dc.typeArtigo de evento
fei.scopus.citations0
fei.scopus.eid2-s2.0-85082172374
fei.scopus.subjectBall
fei.scopus.subjectDelay
fei.scopus.subjectDiscrete
fei.scopus.subjectFilter
fei.scopus.subjectKalman
fei.scopus.subjectLatency
fei.scopus.subjectRoboFEI
fei.scopus.subjectTimer
fei.scopus.updated2024-05-01
fei.scopus.urlhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85082172374&origin=inward
Arquivos
Coleções
Artigos