Position Data Estimation System Based on Recognized Field Landmark Using Deep Neural Network for ERSOW Soccer Robot

Iwan Kurnianto Wibowo, Mochamad Mobed Bachtiar, Erna Alfi Nurrohmah, Vega Kurnia Garindra Wardhana


One of the problems faced by soccer robots is how to find out the position of the robot itself and other robots on the field. A simple way to find out the robot's position is to use the odometry method. However, odometry is weak in accumulating position errors that reduce the accuracy of the moving robot's absolute position estimation and orientation. This paper presents a robot position data estimation system that is to be implemented on the ERSOW wheeled soccer robot. The robot can determine its position based on a unique landmark: an L-shaped line on the soccer robot field. We use a deep neural network method to recognize landmark L-shaped. Vision systems and deep learning inferences run on the Robot Operating System platform. After obtaining the distance of the robot to the L-shaped landmark, the robot's orientation and position relative to the field can be accurately determined based on the omnidirectional camera's perception. The results of the position estimation system in this study can be used to reduce position errors resulting from the odometry method. Based on the landmark L-shape recognition test results conducted on 641 datasets, the validation accuracy value is 0.806. The results of testing the robot position generated by vision obtained the largest error x about 2.32 cm and y about 1.99 cm.


ERSOW robot; estimation; landmark L-shape

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DOI: http://dx.doi.org/10.18517/ijaseit.13.3.18376


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