A global vision system for a robot soccer team

This paper describes the real time global vision system for the robot soccer team the RoboRoos. It has a highly optimised pipeline that includes thresholding, segmenting, colour normalising, object recognition and perspective and lens correction. It has a fast ‘paint’ colour calibration system that can calibrate in any face of the YUV or HSI cube. It also autonomously selects both an appropriate camera gain and colour gains robot regions across the field to achieve colour uniformity. Camera geometry calibration is performed automatically from selection of keypoints on the field. The system acheives a position accuracy of better than 15mm over a 4m × 5.5m field, and orientation accuracy to within 1°. It processes 614 × 480 pixels at 60Hz on a 2.0GHz Pentium 4 microprocessor.

A planar microwave imaging system with step-frequency synthesized pulse using different calibration methods

An experimental study of a planar microwave imaging system with step-frequency synthesized pulse for possible use in medical applications is described. Simple phantoms, consisting of a cylindrical plastic container with air or oil imitating fatty tissues and small highly reflective objects emulating tumors, are scanned with a probe antenna over a planar surface in the X-band. Different calibration schemes are considered for successful detection of these objects. (c) 2006 Wiley Periodicals, Inc.