Visual Perception and Analysis as First Steps Toward Human–Robot Chess Playing

  • Andreas SchwenkEmail author
  • Chunrong Yuan
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9475)


We propose in this paper a novel visual computing approach for the automatic perception of chess gaming states, where a standard chessboard with original chess pieces is used. Our image analysis algorithm uses only grayscale images captured from a single mobile camera for interactive gaming under natural environmental conditions. On the one hand, we apply computer vision techniques to detect and localize the grid corners, obtaining a 2D representation of the \(8 \times 8\) chess grid based on the grayscale information of the input image. On the other hand, we exploit computer graphics techniques for the 3D modeling and rendering of the pieces together with the chessboard. Using 2D–3D correspondences, we are able to recover the 3D camera poses and determine game state transitions during the gaming process. Experimental study based on both simulated and real–world scenarios demonstrates the feasibility and effectiveness of our approach.


  1. 1.
    Tong, G., Qu, Y., Cheng, T.: Human-computer interactive gaming system-a chinese chess robot. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009, pp. 984–987. IEEE (2009)Google Scholar
  2. 2.
    Gracie, S., et al.: Lego chess robot, project report (2005)Google Scholar
  3. 3.
    Tam, K.Y., Lay, J.A., Levy, D.: Automatic grid segmentation of populated chessboard taken at a lower angle view. In: Digital Image Computing: Techniques and Applications (DICTA), 2008, pp. 294–299. IEEE (2008)Google Scholar
  4. 4.
    Neufeld, J.E., Hall, T.S.: Probabilistic location of a populated chessboard using computer vision. In: 2010 53rd IEEE International Midwest Symposium on Circuits and Systems (MWSCAS), pp. 616–619. IEEE (2010)Google Scholar
  5. 5.
    Coens, J.A.: Taking Tekkotsu out of the plane. Ph.D. thesis, Carnegie Mellon University (2010)Google Scholar
  6. 6.
    Wang, V., Green, R.: Chess move tracking using overhead rgb webcam. In: 2013 28th International Conference of Image and Vision Computing New Zealand (IVCNZ), pp. 299–304. IEEE (2013)Google Scholar
  7. 7.
    Matuszek, C., Mayton, B., Aimi, R., Deisenroth, M.P., Bo, L., Chu, R., Kung, M., LeGrand, L., Smith, J.R., Fox, D.: Gambit: An autonomous chess-playing robotic system. In: 2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 4291–4297. IEEE (2011)Google Scholar
  8. 8.
    Hartley, R., Zisserman, A.: Multiple view geometry in computer vision. Cambridge University Press, Canberra (2004)Google Scholar

Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.Faculty of Information, Media and Electrical EngineeringTechnische Hochschule Köln – University of Applied SciencesCologneGermany

Personalised recommendations