Orientation Extraction and Identification of the Opponent Robots in RoboCup Small-Size League

摘要

In RoboCup small-size league, it is necessary to analyze the opponent robots’ behavior in order to make a strategy of the own team. However, it is difficult to prepare image processing methods in advance in order to detect opponent robots’ sub-markers used for the orientation detection and identification of the robots, because there is no limitation in the rule in shape, color, arrangement, and the number. This paper proposes a new method to select the most specific sub-marker attached on the top of the robot based on the features such as the size, area, and color values by using the discriminant analysis, and also explains how to extract opponent robots’ orientations with some experimental results.