Artificial Vision in the Nao Humanoid Robot
Tutor / director / evaluatorRos Puig, Domènec
Document typeMaster thesis
Rights accessOpen Access
Robocup is an international robotic soccer competition held yearly to promote innovative research and application in robotic intelligence. Nao humanoid robot is the new RoboCup Standard Platform robot. This platform is the new Nao robot designed and manufactured by the french company Aldebaran Robotics. The new robot is an advanced platform for developing new computer vision and robotics methods. This Master Thesis is oriented to the study of some fundamental issues for the artificial vision in the Nao humanoid robots. In particular, color representation models, real-time segmentation techniques, object detection and visual sonar approaches are the computer vision techniques applied to Nao robot in this Master Thesis. Also, Nao’s camera model, mathematical robot kinematic and stereo-vision techniques are studied and developed. This thesis also studies the integration between kinematic model and robot perception model to perform RoboCup soccer games and RoboCup technical challenges. This work is focused in the RoboCup environment but all computer vision and robotics algorithms can be easily extended to another robotics fields.
Projecte Final de Màster UPC realitzat en col.laboració amb l'Universitat Rovira i Virgili. Departament d'Enginyeria Informàtica i Matemàtiques