Proceedings of the

2005 IEEE
Mcchatronics
2005, Taipei, Taiwan

International Conference on
July ]()-12,

Development of Intelligent Vision Fusion Based

Autonomous Soccer Robot
1

Chung-Hsien Kuo,

Member,

2Chun-Ming Yang, and 3 Fang-Chung Yang, Student Mcmucr, IEEE

IEEE

Graduate Institute of Medical Mechatronics, Chang Gung University, Tao-Yuan 333, Taiwan, R,O,C.,
e-mail: chkuo@mail.cgu.edu.tw
2.3 Graduate Institute of Mechanical Engineering, Chang Gung University, Tao-Yuan 333, Taiwan, R.O .c.,
e-mail: {sula.middle}@dcalab.cgu.edu.tw

This

Abstract

paper

proposes

the

hands-on

implementations of the "Formosa middle size soccer robot".

which is developed based on the intelligent vision fusion sensing
architecture. Tbe proposed autonomous soccer robot consists of
the

mecbanical

platform,

motion

control

module,

"MapCam360" omni-directional vision module, front vision

module, image processing and recognition module, investigated
target object positioning and real coordinate reconstruction,
robot path planning, subgoal definition, competition strategies,
and obstacle avoidance. Especially, in order to increase the
robustness

of

the

vIsion

sensing,

the

catadioptric

omni-directional and front vision modules are dynamically

switched according to the ball recognition results of the
omni-directional camera. The previous mentioned hardware
and software modules and components are all integrated, and
the control modes are fused based on the relationships among

the positions of the enemy robot, ball, goal, and field

boundaries. In order to increase the motility and attackability,

we design the dribbling and kicking mecbanisms. In addition.

the PC-based soccer robot controller is developed based on the
embedded Linux

platform.

The motion control uses the

Mitsubishi AC-servo motors and controllers to achieve higher

reliability. Finally, the physical robot had been finished and
tested, and we also validate the functional performance of
"Formosa Middle size soccer robot" in terms of participating
the "2004 Taiwan's
competition".

annual

middle

size

soccer

robot

Index Terms - Image servo tracking, image processing and

recognition, omni-directional vision, intelligent vision fusion,
middle size soccer robot.

I. INTRODUCTION

With the increasing developments of the artificial

intelligence (AI) and the robotics, the robot soccer
competition game was proposed to emulate the human's
soccer game. The robot soccer tournament was addressed
and fonnulated based on the real-time and practical
competition environment and problems. In general, the
soccer robot integrates the techniques of the robotics,
mechanics, control circuit design, motion controller design,
image acquisition and processing, autonomous robot
behavior modeling and programming,
intelligent
decision-making, etc. Therefore, the robot soccer tournament
is not only an interesting research topic, but also a
challenging research problem. Therefore, the robot soccer
game can be fonned as a dynamic and unpredictable
collaborative system. The RoboCup [12] and Federation of
0-7803-8998-0/05/$20.00 2005 IEEE

International Robot-soccer Association (FlRA) [9] are two

major organizations to orgamze the robot soccer
competitions.
There are several literatures discussed the visions of the
mobile robots. S.S Lin et al. [6] proposed a novel
omni-directional stereo system to capture 3D depth in real
time without additional restrictions on the operating
environment. The proposed system achieved high resolution.
It also promoted good resolution, data-flow, precision and
speed to meet omni-directional stereo robot sensor demands.
T. Schmitt et af. [7] developed and analyzed a probabilistic,
vision-based state estimation method for individual
autonomous robots. The proposed approach enabled a team
of mobile robots to estimate their joint positions in a known
environment, and the robots were capable of tracking the
positions of autonomously moving objects.
M
Dietl et al. [2] developed a new method to track
multiple and single objects using noisy and unreliable sensor
data in tenus of Kalman filtering and Markov localization
approaches. The results were compared with a simple
averaging method to emphasize their contributions. P.
Bonnin et al. [1] proposed a general methodology to
introduce behavioral and visual priori knowledge and
applied the approach in their works for the RoboCup
quadruped legged league. Finally, J. Jia et al. [4] proposed
the modular and object oriented approach for constructing
the autonomous mobile robot system. This system was
developed modularly based on the Windows operation
system. The soccer robots used the omni-vision modular for
the navigation purposes.
The middle size soccer robot is developed as a fully
autonomous mobile robot, and it has to complete the robot
soccer game based on practical concerns only by "itself'.
That is, all the tasks, including image processing, object
recognition, decision-making, path planning and robot
driving, must be done on the robol. Therefore, in addition to
develop the robot driving mechanics, the image acquisition
and software computing modules must be developed as the
kernels of the middle size soccer robot. In this paper, the
middle size soccer robot is implemented as the following
hardware and software modules.
I. Mechanical and driving modules: the mechanical
design plays an important part for the soccer robot. In this
work, we construct a strong mechanical structure as the robot
platfonn. In addition, the industry proof AC servo driving
modules are used to drive the soccer robot in a reliable
.

124

manner.

Finally, we design the dribbling and kicking

mechanism

on

the

robot

to

increase

the

attacking

spring driving mechanism. The pneumatic force is used here

to retract the kicking bar as the initial state. When the kicking
command is excited, the pneumatic force is released and then

functionality of soccer robot.

2. Image acquisition modules: the image acquisition is the

the compressed spring is desired to push the kicking bar so

major method to detect the object in the competition ground.

that the dribbled ball can be shot immediately. The shooting

To capture the overall image of the competition ground, the

force is desired depending on the spring constant and the

omni-directional

used.

mass of the kicking bar. Fig. 3 shows the computer model of

However, due to the serious image distortions of objects at

the kicking mechanism. The photo of physically assembled

vision

modules

are

generally

far distance, a front vision module is additionally used to

dribbling and kicking mechanism is shown in Fig. 4.

assist the image recognitions of the omni-directional vision

module.
3. Software computing modules: the software computing
modules are responsible for the intelligent vision fusion of
the omni-directional and front vision modules, object (e.g.,
ball, goal, enemy, field boundary) recognitions, strategy
making, path planning and motion driving. These software
modules are implemented using the C language, and these
software modules were executed on the embedded Linux
based computer. By using the embedded Linux based

Fig.l Mechanicalplatform design of Formosa middle

platform, the embedded software codes can be configured as

size soccer robot

the compact flash (CF) memory card instead of the hard disk
drive so that the system reliability can be significantly
improved during moving and unpredictable collisions of the
robot.
Finally, this paper is organized as follows. Section

II

introduces the design and implementation of the mechanical

platform. Section III illustrates the image processing and
recognitions for the intelligent vision fusion based image
acquisition
competItion

architecture.
strategies

implementations

and

Section
and

IV

subgoal

practical

describes
definition.

the
The

experimentations

discussed in Section V. Finally, the conclusions and future

works

are

proposed in Section VI.

mechanical

platform

mechanism design of Formosa middle size soccer robot

The driving of the Formosa middle size soccer robot uses

the Mitsubishi AC servomotor solution [10]. The motor is
the "HC-KFS43" model, and the molor driver is the
"MR-J2S-40A" model, as shown in Fig. 5. The driving

II. MECHANICAL PLATFORM AND DRIVING DESIGN

The

Fig.2 Dribbling

are

is

designed

based

signal of AC servomotor uses analog voltage signal (range:

on

0-10 Volts) to control the motor angular velocities. By

two-wheels driving mechanism. The industry proof AC

applying different angular velocities of two driving wheels,

servomotors are

the robot motions with different linear and angular velocities

mounted on both

sides of the robot

symmetrically. The dimension and weight are designed

can be desired as shown in (l).

according to the specification of the competition rules. In

order to achieve the stability of motion, three idle wheels are
employed.

Vx(t)

In this work, the mechanical platform is designed using

Vy (I)

the Pro! E software [11]. All the mechanical components

were produced in the machine shop of our university" The

(OB""

Pro! E mechanical platform model is designed as shown in

R cosB(w,(t) + w,(t

(I)

Fig. 1. On the other hand, we also develop the dribbling and

kicking mechanism to increase the attackability of the

R(W)tl-(O'(t

D
R(O,U) + w,(t
D
I

' (0, t (0, I>

()

{JJ, (t) (0, ()

I <

()

In (I), 8 is the robot angle corresponding to the horizontal

proposed soccer robot. The dribbling mechanism assists the

robot to keep the ball with the desired path; and the kicking

line; V xU) is the horizontal linear velocity of the robot;

mechanism is capable of increasing the impulse when

V:V (t)

is the vertical linear velocity of the robot; D is the radius of

shooting the ball. Fig. 2 shows the computer model of the

the driving wheel;

dribbling mechanism. The dribbling mechanism is designed

driving wheel;

using four rotating bars to increase the force of keeping ball.

(1)

2
R sin O(w, (I) + w,(t

cv,.(t)

mIt)

is the angular velocity of the right

is the angular velocity of the left driving

wheel; R is the distance of two driving wheels. The motion

Meanwhile, the sponges are coated on the top two rotating

driving command is transmitted via an in-lab design serial

bars to enhance the friction ofkeeping ball. Additionally, the

communication

kicking mechanism is designed using the pneumatic and

digital-to-analog

125

interface

board

moduleare

and

used

to

the

dual

control

channel
the

AC

separated into three sub-images or planes. The YUV is

servomotor drivers, as shown in Fig. 6.

different

from

RGB.

RGB

The

contain s

the

image

information of three large color channels, and the YUV deals

with one brightness or luminance channel (Y) and two col or

or

chrominance channels. When YCrCb data is being packed

as a YUV packing, the Cr component is packed as U, and the

Cb component is packed as V. The Y plane is configured as
one byte for each i mage per pixel. The Cr and Cb planes are

configured as half the width and half the height of the Y

plane (or image). Each Cr or Cb contains the information of

four neighboring pixels (a two-by-two square of the image).

For instanc e, erO belongs to Y'aa, Y'O I, Y' I0, and Y'II.
Fig.3 Kicking

mechanism design ofFonnosa middle size soccer robot

Note that the YUV and RGB can be con ve rted.

The color patterns of investigated object are recognized

using the band-pass threshold. Due to different luminance

condition

of

the

competition

ground,

the

thresholds for all investiga ted color patterns

an d

band-p a ss

obj ects are

determined before competition. To reduce the efforts on

defining the YUV band-pass thresholds, the simple formulas

are used. Initially, ten sample pixel s with YUV formats for

each investigated objects are acquired and recorded as

sequences of (Yii, Uii' Vij), where i is the index of

investigated objects such as ball, enemy, goal, and field

boundary marker ; j is the sample number for the pixels (j = I

Fig.4 Photo of assembled dribbling and kicking mechanism

to 10). Note that the relative positions of the investigated

objects

are

crucial

to

determine t he

YUV

band-pass

thresholds. In general, the extreme cases are not acceptable.

Once the YUV data of sample pixels for each investigated

objects is acquired, the mean values of the sample data are

calculated as (YMj, UM" VM,). The upper and lower bounds
of

the YUV

band-pass

thresholds

can be determined

experimentally in terms of adding the tolerance value. The

Fig.S Photo of AC servomotor and driving modules

tolerance value depends on the luminance conditions of the

competition ground, and it must consider the robustness

issues. By applying the vision fusions of the omni-directional

and front vision approach, the YUV band-pass thresholds are

individually determined.

The upper bound of the YUV band-pass thresholds is

indicated as ( YUj,

UUj, VU;);

the lower bound of the YUV

band-pass thresholds is indicated as (YLi, ULi, VLi). The

formulas

to

determine

thresholds are indicated

the

in (2) - (4).

component

band-pass

Where i is also the index

of interested objects; YMj is the mean value of comp on ent Y

i. YEj is the tolerance value of component Y for

obj ect i. The U and V c o mpo nent can also be dete rmine d in
this manner.
(2)
YM,= fy/IO
for object

Fig.6 Motion driving serial communication interface

board

III. IMAGE PROCESSING AND RECOGNITION

r=-I

YU,

A. Y-U-V Based Object Recognition

YM, + YE,

(3)

(4)

YL,= YMi - YSi

The robustness of the obj ect recognitions for specific

B. intelligent Vision Fusion Architecture

color patterns is crucial for the soccer robots. Due to the

luminance varying of th e competition ground and the

is impossible to
rec ogn ize the objects

Vision

is

the most important

sensor to detect the

distortion of the ornni-directional camera, it

investigated

use the typical RGB color format to

environment for the soccer robots. Due to large

with specified

colors.

In general, the YUV color format is

more feasible to ana lyze the images with lighting variations.

For the YUV image format

[5], three components are

objects

ground of the middle

with

specified

color

patterns

in

competition

si ze robot soccer game, the robot is

hardly to detect all objects in the competition field. Using

traditional front vision module can
126

just

inves tig ate the

objects in the front of the CCD with a particular viewing

angle. However, it cannot observe the objects except the
particular viewing angle.
In general, the omni-directional vision solution is used for
the middle size soccer robot. The omni-directional camera
can create a view screen with 360 degrees around the
observer (e.g., soccer robot). The photo of the
omni-directional camera used in this work (with model
MapCam360 model from the EeRise Corporation [8]) is
shown in Fig. 7 (a), and the omni-directional image example
is shown in Fig. 7 (b). Although the omni-directional camera
can capture 360 degrees image around the robot, the
seriously image distortion at the far locations (greater than
200 em in this work) is hardly investigated by the human or
difficultly recognized by the computer program when the
camera height is limited (80 em in this work).

primary VISIOn sensor, and the front VISIon acts as the

auxiliary vision sensor. The omni-directional camera is
mounted on the top of the soccer robot with 78 cm height
(not exceeded 80 em limitation). The front vision camera is
mounted at the front of the robot with a particular viewing
angle experimentally to investigate the ball clearly at the
possibly far distance in the competition ground.
The image fusion architecture is executed initially to
capture the images from the omni-directional camera, and
the ball (or target object) is further recognized. If the ball is
not recognized, then the ball may be either masked by the
enemy robot or far away the robot. The masking problem is
not discussed in the image recognition architecture. If the
ball cannot be recognized from the omni-directional image,
then the vision fusion controller switches to the front vision
camera automatically. At this moment, the robot rotates itself
to find the ball since the ball may be not at the front direction
of the robot. Once the ball is recognized, the robot stops
rotating and moves toward the ball straightly until the ball is
recognized by the omni-directional vision. Based on the
intelligent vision fusion architecture, the image recognition
efforts are significantly reduced.
IV. COMPETITION STRATEGY AND SUBGOAL DEFINITION

(a)
(b).
Fig.7 photo of omni-directional camera and image

Based on different image properties of the traditional

front vision and the omni-directional vision cameras, we
found their properties are complementary. Therefore, we
design the intelligent vision fusion architecture to investigate
all the objects in the competition ground completely. The
intelligent vision fusion architecture is shown in Fig. 8. Due
to the ball recognition being the most important task for the
soccer robot, the ball recognition procedure is used to
illustrate the proposed intelligent vision fusion architecture.
In this architecture, the images are fused in terms of the
strengths of individual camera properties to compensate their
weaknesses.

A. Soccer Competition Strategy

Since the proposed soccer robot is capable of dribbling

and kicking, the competition strategies are categorized as the
"with dribbling" and "without dribbling" scenarios. The
competition strategy is shown in Fig. 9. Either the "with
dribbling" or "without dribbling" model, the ball must be
recognized from the omni-directional camera instead of the
front vision camera. If the ball is far away the robot (i.e.,
cannot be recognized by the omni-directional camera), then
the proposed vision fusion approach is executed to move the
robot until the ball is recognized from the omni-directional
camera. In this manner, the soccer competition strategy can
be further executed.

DefltH."SLlbglJlllooingal
Opprro;ne DireCliOIl f from
'BaH 10 Gool wil1l1 SpeClfid o'm....-:...

Fig.9 Soccer robot competition strategy

Fig.8 Intclligent

For the "with dribbling" mode, the attack procedure is

very simple because that the distortion effects of the
omni-directional image can be ignored. Fig. 10 shows the

vision fusion architccture

In this architecture, the omni-directional vision acts as the

127

attack procedure of the "with dribbling" mode. In this case,

the robot is at position "Pos A" with direction "Dir

A".

The

ball is at position "Pos Ball". Initially, the robot rotates itself

reconstructed to calculate the Subgoal, as shown in Fig.

At

II.

the same time, the planner coordinate of the subgoal is

converted to the omni-directional image coordinate for

from "Dir A" to "Dir B" so that the ball is at front direction of

display. Note that the coordinate conversions between the

the robot, and then the robot moves straightly toward the ball.

omni-directional

When the ball is near (around 20 cm) the robot, the dribbling

coordinates uses the curve fitting approaches [3]. Based on

image

coordinates

and

the

planner

mechanism is automatically operated. Finally, the robot can

practical experimentations, the parameters of conversion

continuously keep the ball at position "Pos B". At this

equations are converged after the training of

moment, the robot rotates itself again from current direction

equations are shown in

20 data. The
(5)-(6).
Dp 0.000577 D/ - 0.16192Dl
+ 15.9966D; - 487.564
(5)
D; = 9.03xlO6 D/ - 0.00609D/
+1.48637Dp+22.1253
(6)
Where Dp indicates the real distances of planner distances

to direction "Dir C" so that the goal target is at front direction

of the robot. Then, the robot moves straightly toward the goal
target until the robot is at front of the goal with a predefined
distance ("Pos C"). Note that this position is determined in
terms of comparing the goal area pixels. Consequently, the

indi c ates the pixel distances of the

kicking mechanism is automatically operated in terms of

(in em units) and the

controlling the pneumatic solenoid value to shoot the ball.

omni-directional images. When the robot reaches "Pos B", it

D;

rotates itself until to direction "Dir C". The robot then moves

along "Dir e" to touch the ball, and further to push the ball

toward to the goal target. Consequently, the ball reaches the

goal.
P",,:R.all

Finally,

it

is noted that

the previous

described

competition strategies are executed based on the one v.s. one

robot soccer competition. The team competition can be
further modified to satisfy the practical issues. In addition,
the obstacles can be avoided in terms of changing the
subgoal dynamically based on the pre-defined rules.
V. IMPLEMENTATIONS AND PRACTICAL

Fig.IO Attack

procedure with dribbling function

EXPERIMENTAnONS

For the "without dribbling" mode, the attack procedure is

more complicated because that the distortion effects of the
omni-directional image must be considered. Fig. II shows

the attack procedure of the "without dribblin g " mode. In this

case, the robot is at position "Pos A" with direction "Dir A".

The ball is at position "Pos Ball". Because it is not easy to

keep the ball when the robot rotates with respect to a point
without the dribbling function, the soccer robot just pushes

the ball

with the desired

direction to the target. For this

reason, the "without dribbling" mode defines the subgoal for

the shooting ball purposes. The subgoal is defined at the

opposite direction of from ball to goal target with a specified

distance

(Do),

as indicated in "Pos B" in Fig. II. In this

manner, the positions of suhgoal, ball and goal target become

collinear.

The "Formosa middle size soccer robot" is physically

implemented. In order to increase the system reliability, the
embedded Linux platform is used. The proposed system is
developed on the EeRise PanoServer 3000 machine
EeRise PanoServer

[8]. The
3000 is a PC based computer with Intel

Pentium 4 2.4GHz processor. The operation system is the

Linux

2.4.20. In addition to supporting the embedded

platform, the PanoServer 3000

individual

visi on

input

is configured with for

channels

and

eight

general-purpose-input-output (GPIO) nodes to support the

soccer robot functions. The software modules are developed
using the

C language The photo of the completely

Fig. 12.

assembled soccer robot is shown in

The functions and approaches propose in this paper were

tested and verified in our laboratory. Note that the lighting
condition was poor and inconsistent during experiments. The
experimental results are proposed in this paper. Fig.

12

shows the photo of the vision fusions of the ball far away the
robot (left hand side), and the automatically switched front
vision camera (right hand side). The ball in the front vision
camera is very clear and easily recognized. In addition, the
ball and goal recognitions were also verified, and two cases
are shown in Fig. 13.

Meanwhile, the curve fittings for the conversions of the

omni-directional and planner coordinates are also practically

verified using equations
Fig. I I Attack procedure without

dribbling function

Due to the huge distortion of the omni-directional images,

the planner relative coordinates of the ball and goal target are

of

the

reconstructed

(5)-(6). Fig. 14 shows comparisons

planner

distances

from

the

omni-directional images and the real measured distances.

The reconstruction error is around

128

19.14 em

for

20 test data,

and they are acceptable for the middle size soccer robot The
reconstructed planner coordinates can be further used to

functions, intelligent vision fusion architecture,

the
(6).

black cross ("+") marks, and they are plotted using

converted planner coordinates as

indicated in equation

fitting

coordinates, competition strategies for "with dribbling" and

define the subgoals for the "without dribbling" mode, as

shown in Fig. 15. Note that the subgoal is marked using the

curve

based conversions for the omni-directional and planner

"without dribbling" modes were developed and integrated.

Especially, by introducing the intelligent vision fusion

approach, the image recognition efforts are reduced, and the
image recognition system become more robust. Finally, we
also validate the functional performance of "Formosa Middle
size soccer robot" in terms of participating the "2004
Taiwan's annual middle size soccer robot competition".

Fig.12 Assembled Fonnosa middle size soeeer robot

Fig, 16 Subgols for four eases

Fig. 13 Omni-direetional and front images

ACKNOWLEDGEMENTS

This work was supported by the Ministry of Education,

Taiwan,

R.O.C.,

under

the

2004

Student

Hand-On

Competition Project.
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VI. CONCLUSIONS AND FUTURE WORKS

[8]
[91
[t 0]

In this paper, the "Formosa middle size soccer robot" is

introduced, and the hands-on implementations including

robot

mechanics

platform

with

dribbling

Analysis,

Autonomous Mobile Robot System,"

[5]
I

) , Jia, W,

Numeri al

and

kicking

URL:
URL:
URL:

hUp:llwww.fira,nct!

URL:

hllp:l/www.robocup,orgi

http://www.ccrise.com.tw/

http://www.mitsubishi.com/

[tl] URL: hUp:llwww.proc.coml

[12]

129

VoL 18,