A Method to Estimate Ball's State of Spin by Image Processing for Improving Strategies in the RoboCup Small-Size-Robot League


This paper addresses an estimation problem of the ball’s state of spin in RoboCup Small Size League (SSL). A spinning ball varies its speed after the ball bounces off the floor. This paper proposes an image-based estimation method of the ball’s state of spin, in particular, by using inertia feature of co-occurrence matrix of the image sequence. The… (More)
DOI: 10.1007/978-3-319-18615-3_42


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