Humanoid robot localization in a soccer field using Deep Learning
With the evolution of humanoid robotics and its increasing use in diverse environments and tasks, it is imperative that the robot can interact with the environment and, therefore, understand it accurately to execute decision making. In this work, we presented the process of collecting a new dataset...
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| Main Authors: | , |
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| Format: | Online |
| Language: | Portuguese |
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Universidade Estadual de Campinas
2019
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| Online Access: | https://econtents.sbu.unicamp.br/eventos/index.php/pibic/article/view/2900 |
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| _version_ | 1864359314775343104 |
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| author | Andrade, Gabriel de Colombini, Esther |
| author_facet | Andrade, Gabriel de Colombini, Esther |
| author_sort | Andrade, Gabriel de |
| collection | Portal de Eventos Científicos da UNICAMP |
| container_reference | Revista dos Trabalhos de Iniciação Científica da UNICAMP; n. 27 (2019): Congresso de Iniciação Científica UNICAMP; 1-1 |
| description | With the evolution of humanoid robotics and its increasing use in diverse environments and tasks, it is imperative that the robot can interact with the environment and, therefore, understand it accurately to execute decision making. In this work, we presented the process of collecting a new dataset for simulated soccer scenes. We simulated the RoboCup Humanoid challenge and collected over 200k images that contain up to 4 classes of objects, depth estimation, and bounding boxes. We then trained a modified multiclass version of J-MOD2 to validate the dataset and provide the landmarks distances to a Monte Carlo localization algorithm in order to estimate the robot position on the field. |
| first_indexed | 2025-10-08T13:58:56Z |
| format | Online |
| id | ojs-article-2900 |
| institution | Universidade Estadual de Campinas |
| issn | 2596-1969 |
| language | por |
| last_indexed | 2025-10-08T13:58:56Z |
| publishDate | 2019 |
| publisher | Universidade Estadual de Campinas |
| record_format | ojs |
| spelling | ojs-article-29002025-09-26T14:39:16Z Humanoid robot localization in a soccer field using Deep Learning Andrade, Gabriel de Colombini, Esther Localization Robotics Deep learning With the evolution of humanoid robotics and its increasing use in diverse environments and tasks, it is imperative that the robot can interact with the environment and, therefore, understand it accurately to execute decision making. In this work, we presented the process of collecting a new dataset for simulated soccer scenes. We simulated the RoboCup Humanoid challenge and collected over 200k images that contain up to 4 classes of objects, depth estimation, and bounding boxes. We then trained a modified multiclass version of J-MOD2 to validate the dataset and provide the landmarks distances to a Monte Carlo localization algorithm in order to estimate the robot position on the field. Universidade Estadual de Campinas 2019-11-30 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Artigo de convidado application/pdf https://econtents.sbu.unicamp.br/eventos/index.php/pibic/article/view/2900 10.20396/revpibic2720192900 Revista dos Trabalhos de Iniciação Científica da UNICAMP; n. 27 (2019): Congresso de Iniciação Científica UNICAMP; 1-1 2596-1969 por https://econtents.sbu.unicamp.br/eventos/index.php/pibic/article/view/2900/2897 Copyright (c) 2019 Revista dos Trabalhos de Iniciação Científica da UNICAMP http://creativecommons.org/licenses/by/4.0 |
| spellingShingle | Andrade, Gabriel de Colombini, Esther Localization Robotics Deep learning Humanoid robot localization in a soccer field using Deep Learning |
| title | Humanoid robot localization in a soccer field using Deep Learning |
| title_full | Humanoid robot localization in a soccer field using Deep Learning |
| title_fullStr | Humanoid robot localization in a soccer field using Deep Learning |
| title_full_unstemmed | Humanoid robot localization in a soccer field using Deep Learning |
| title_short | Humanoid robot localization in a soccer field using Deep Learning |
| title_sort | humanoid robot localization in a soccer field using deep learning |
| topic | Localization Robotics Deep learning |
| url | https://econtents.sbu.unicamp.br/eventos/index.php/pibic/article/view/2900 |
| work_keys_str_mv | AT andradegabrielde humanoidrobotlocalizationinasoccerfieldusingdeeplearning AT colombiniesther humanoidrobotlocalizationinasoccerfieldusingdeeplearning |
