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Playing Robot Soccer under Natural Light: A Case Study
Gerd Mayer, Hans Utz, and Gerhard K. Kraetzschmar
University of Ulm, James-Franck-Ring, 89069 Ulm, GermanyAbstract. The recent debate in the RoboCup middle-size community about natural light conditions shows that a more in-depth analysis of the problems incurred by this is necessary in order to draft out a focused and realistic roadmap for research. Based on real-world images taken under varying lighting conditions, we performed descriptive and statistical analysis of the effects on color-based vision routines. The results show that pure color-based image processing is not likely to perform well under varying lighting conditions, even if the vision system is calibrated on a per-game base. We conclude that color-based vision has to be combined with other methods and algorithms in order to work robustly in more difficult environments with varying illumination.
LNAI 3020, p. 238 ff.
lncs@springer.de
© Springer-Verlag Berlin Heidelberg 2004