Abstract

Object detection and tracking system has been developed by several researchers. This paper present algorithm for visual ball detection and ball estimation for goalie (goalkeeper) robot. The ball is captured by a camera with a fisheye lens and processed for detection and tracking. Images from fish-eye camera are curved images. Images are thresholded to Hue Saturation Value (HSV). The system can predict goal area and ball position with multilayer backpropagation neural network (BPNN). The BPNN inputs are x and y axis of the ball. The BPNN outputs are goal area prediction and ball area prediction. The training data is unique segmented area. According to the changes of previous ball distance, the system will predict the direction of the next ball position. The achievement result (unique kernel 3×3, MSE <0.001, 30 samples data) for ball position prediction is 76.67%. The achievement result (unique kernel 3×3, MSE <0.001, 30 samples data) for goal area prediction is 100%.

Original languageEnglish
Title of host publication2017 International Seminar on Intelligent Technology and Its Application
Subtitle of host publicationStrengthening the Link Between University Research and Industry to Support ASEAN Energy Sector, ISITIA 2017 - Proceeding
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages362-367
Number of pages6
ISBN (Electronic)9781538627068
DOIs
Publication statusPublished - 28 Nov 2017
Event18th International Seminar on Intelligent Technology and Its Application, ISITIA 2017 - Surabaya, Indonesia
Duration: 28 Aug 201729 Aug 2017

Publication series

Name2017 International Seminar on Intelligent Technology and Its Application: Strengthening the Link Between University Research and Industry to Support ASEAN Energy Sector, ISITIA 2017 - Proceeding
Volume2017-January

Conference

Conference18th International Seminar on Intelligent Technology and Its Application, ISITIA 2017
Country/TerritoryIndonesia
CitySurabaya
Period28/08/1729/08/17

Keywords

  • BPNN
  • Ball position prediction
  • Goal area prediction
  • HSV

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