Ground-truth localisation system for humanoid soccer robots using RGB-D camera
by Mohammad Shafiei Rezvani Nezhad; Omid Amir Ghiasvand
International Journal of Computational Vision and Robotics (IJCVR), Vol. 7, No. 3, 2017

Abstract: Localisation and behaviour are two vital systems for every autonomous mobile robot. As the result, establishment of a localisation ground-truth detection system is a necessity for the analysis. Depend on the requirements of the application, there are some constraints for such system like: diversity in types of providing information, accuracy of the data and ease of use - since the calibration is needed in both colour classification and geometry position - and also the cost of the system, which all should be considered. In this paper, a low cost system is presented using Asus Xtion depth camera, capable of providing ground-truth position information of the humanoid robots and the ball which is required to estimate the errors of a localisation system in RoboCup Standard Platform League (SPL) and Humanoid kid Size League (HSL) soccer robots. Furthermore, the user input requirements are reduced to very few compared to other similar systems. Source code of the system is available online at

Online publication date: Fri, 31-Mar-2017

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