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A Low Cost Ground Truth Detection System Using the Kinect.
Piyush Khandelwal
and Peter Stone.
In Thomas Roefer, Norbert Michael Mayer, Jesus Savage,
and Uluc Saranli, editors, RoboCup-2011: Robot Soccer World Cup XV, Lecture Notes in Artificial Intelligence, Springer
Verlag, Berlin, 2012.
[PDF]323.7kB [postscript]2.7MB
Ground truth detection systems can be a crucial step in evaluating and improving algorithms for self-localization on mobile robots. Selecting a ground truth system depends on its cost, as well as on the detail and accuracy of the information it provides. In this paper, we present a low cost, portable and real-time solution constructed using the Microsoft Kinect RGB-D Sensor. We use this system to find the location of robots and the orange ball in the Standard Platform League (SPL) environment in the RoboCup competition. This system is fairly easy to calibrate, and does not require any special identifiers on the robots. We also provide a detailed experimental analysis to measure the accuracy of the data provided by this system. Although presented for the SPL, this system can be adapted for use with any indoor structured environment where ground truth information is required.
@incollection{LNAI11-piyush,
author = {Piyush Khandelwal and Peter Stone},
title = {A Low Cost Ground Truth Detection System Using the Kinect},
booktitle= "{R}obo{C}up-2011: Robot Soccer World Cup {XV}",
Editor={Thomas Roefer and Norbert Michael Mayer and Jesus Savage and Uluc Saranli},
Publisher="Springer Verlag",
address="Berlin",
year="2012",
series="Lecture Notes in Artificial Intelligence",
abstract = {
Ground truth detection systems can be a crucial step in evaluating and
improving algorithms for self-localization on mobile robots. Selecting a
ground truth system depends on its cost, as well as on the detail and
accuracy of the information it provides. In this paper, we present a low
cost, portable and real-time solution constructed using the Microsoft
Kinect RGB-D Sensor. We use this system to find the location of robots and
the orange ball in the Standard Platform League (SPL) environment in the
RoboCup competition. This system is fairly easy to calibrate, and does not
require any special identifiers on the robots. We also provide a detailed
experimental analysis to measure the accuracy of the data provided by this
system. Although presented for the SPL, this system can be adapted for use
with any indoor structured environment where ground truth information is
required.
},
}
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