Multimedia Tools and Applications

, Volume 77, Issue 18, pp 23149–23166 | Cite as

A seamless ground truth detection for enhancing localization on mobile robots

  • Peter Chondro
  • Ingmar Schwarz
  • Shanq-Jang Ruan


Robot localization mechanism is an essential feature to determine the position of the corresponding robot within an environment, particularly in the field of Standard Platform League (SPL) at the RoboCup. Despite the available input from the onboard sensors, the ground truth information is necessary for a real-time localization system. This study proposes an efficient color-based segmentation scheme using an overhead projective camera with an autonomous calibration procedure. This enhances the system robustness against lighting changes and different labeling setups for the field environment. The experimental results show that the proposed method localizes and recognizes objects with a detection rate of 96.4%.


Ground truth Object localization Region segmentation Color recognition Mobile robots 



The authors would like to thank Professor Christopher Whiteley from the National Taiwan University of Science and Technology for proof-reading this manuscript.


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Copyright information

© Springer Science+Business Media, LLC, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Department of Electronic and Computer EngineeringNational Taiwan University of Science and TechnologyTaipeiRepublic of China
  2. 2.Robotics Research InstituteTechnical University of DortmundDortmundFederal Republic of Germany

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