TY - JOUR
T1 - Object detection for KRSBI robot soccer using PeleeNet on omnidirectional camera
AU - Winarno,
AU - Agoes, Ali Suryaperdana
AU - Agustin, Eva Inaiyah
AU - Arifianto, Deny
N1 - Publisher Copyright:
© 2020 Universitas Ahmad Dahlan.
PY - 2020
Y1 - 2020
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 find the ball, locate the goal, then kick the ball toward goal. We employed an omnidirectional vision camera as a visual sensor for a robot to perceive the object's information. We calibrated streaming images from the camera to remove the mirror distortion. Furthermore, we deployed PeleeNet as our deep learning model for object detection. We fine-tuned PeleeNet on our dataset generated from our image collection. Our experiment result showed PeleeNet had the potential for deep learning mobile platform in KRSBI as the object detection architecture. It had 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 find the ball, locate the goal, then kick the ball toward goal. We employed an omnidirectional vision camera as a visual sensor for a robot to perceive the object's information. We calibrated streaming images from the camera to remove the mirror distortion. Furthermore, we deployed PeleeNet as our deep learning model for object detection. We fine-tuned PeleeNet on our dataset generated from our image collection. Our experiment result showed PeleeNet had the potential for deep learning mobile platform in KRSBI as the object detection architecture. It had a perfect combination of memory efficiency, speed and accuracy.
KW - Deep learning
KW - Object detection
KW - Robot soccer
UR - http://www.scopus.com/inward/record.url?scp=85087560927&partnerID=8YFLogxK
U2 - 10.12928/TELKOMNIKA.V18I4.15009
DO - 10.12928/TELKOMNIKA.V18I4.15009
M3 - Article
AN - SCOPUS:85087560927
SN - 1693-6930
VL - 18
SP - 1942
EP - 1953
JO - Telkomnika (Telecommunication Computing Electronics and Control)
JF - Telkomnika (Telecommunication Computing Electronics and Control)
IS - 4
ER -