TITLE:
Neural Network in Computer Vision for RoboCup Middle Size League
AUTHORS:
Paulo Rogério de Almeida Ribeiro, Gil Lopes, Fernando Ribeiro
KEYWORDS:
RoboCup, Computer Vision, Artificial Neural Network
JOURNAL NAME:
Journal of Software Engineering and Applications,
Vol.9 No.7,
July
18,
2016
ABSTRACT: Robot World Cup Initiative (RoboCup) is a
worldwide competition proposed to advance research in robotics and artificial
intelligence. It has a league called RoboCup soccer devoted for soccer robots,
which is a challenge because robots are mobile, fully autonomous, multi-agents,
and they play on a dynamic environment. Moreover, robots must recognize the
game entities, which is a crucial task during a game. A camera is usually used
as an input system to recognize ball, opponents, soccer field, and so on. These
elements may be recognized applying some tools of computational intelligence,
for example an artificial neural network. This paper describes the application
of an artificial neural network on middle size robotic football league, where a
multilayer perceptron neural network is trained with the backpropagation
algorithm, to classify elements on the image. Each output neuron represents an
entity and its output value depends on the current entity that is present on
the image. The results show that an artificial neural network successfully
classified the entities. They were recognized even when similar color entities
were present on the image.