TY - GEN
T1 - Ball detection for KRSBI soccer robot using PeleeNet on omnidirectional camera
AU - Winarno,
AU - Agoes, Ali Suryaperdana
AU - Agustin, Eva Inaiyah
AU - Arifianto, Deny
N1 - Publisher Copyright:
© 2020 Author(s).
PY - 2020/12/9
Y1 - 2020/12/9
N2 - Kontes Robot Sepak Bola Indonesia (KRSBI) is an annual event for contestants to compete their design and robot engineering in the field of robot soccer. Each contestant tries to win the match by scoring a goal toward the opponent's goal. In order to score a goal, the robot needs to locate the ball. We employ an omnidirectional vision camera as a visual sensor for a robot to perceive ball. We calibrate streaming images from the camera, in order to remove the mirror distortion. We deploy PeleeNet as our deep learning model for object detection. We fine-tune PeleeNet on modified PASCALVOC 2007-2012 dataset with the additional ball object. Our experiment results show PeleeNet has the potential to be deployed as a deep learning mobile platform for KRSBI as the ball detection architecture. It has a perfect combination of memory efficiency, speed and accuracy.
AB - Kontes Robot Sepak Bola Indonesia (KRSBI) is an annual event for contestants to compete their design and robot engineering in the field of robot soccer. Each contestant tries to win the match by scoring a goal toward the opponent's goal. In order to score a goal, the robot needs to locate the ball. We employ an omnidirectional vision camera as a visual sensor for a robot to perceive ball. We calibrate streaming images from the camera, in order to remove the mirror distortion. We deploy PeleeNet as our deep learning model for object detection. We fine-tune PeleeNet on modified PASCALVOC 2007-2012 dataset with the additional ball object. Our experiment results show PeleeNet has the potential to be deployed as a deep learning mobile platform for KRSBI as the ball detection architecture. It has a perfect combination of memory efficiency, speed and accuracy.
UR - http://www.scopus.com/inward/record.url?scp=85097995557&partnerID=8YFLogxK
U2 - 10.1063/5.0036172
DO - 10.1063/5.0036172
M3 - Conference contribution
AN - SCOPUS:85097995557
T3 - AIP Conference Proceedings
BT - 2nd International Conference on Physical Instrumentation and Advanced Materials 2019
A2 - Trilaksana, Herri
A2 - Harun, Sulaiman Wadi
A2 - Shearer, Cameron
A2 - Yasin, Moh
PB - American Institute of Physics Inc.
T2 - 2nd International Conference on Physical Instrumentation and Advanced Materials, ICPIAM 2019
Y2 - 22 October 2019
ER -