The robotics community is concerned with the ability to infer and compare the results from researchers in areas such as vision perception and multi-robot cooperative behavior. To accomplish that task, this paper proposes a real-time indoor visual ground truth system capable of providing accuracy with at least more magnitude than the precision of the algorithm to be evaluated. A multi-camera architecture is proposed under the FLOS (Robot Operating System) framework to estimate the 3D position of objects and the implementation and results were contex-tualized to the Robocup Middle Size League scenario.
展开▼
