A Realistic Simulator for Humanoid Soccer Robot Using Particle Filter

rhis work presents a realistic simulator called Reality sim for humanoid soccer robots especially in simulation of computer vision. As virtual training, testing and evaluating environment, simulation platforms have become one significant component in Soccer Robot projects. Nevertheless, the simulated environment in a simulation platform usually has a big gap with the realistic world. In order to solve this issue, we demonstrate a more realistic simulation system which is called Reality Sim with numerous real images. with this system, the computer vision code could be easily tested on the simulation platform. For this purpose, an image database with a large quantity of images recorded in various Based on , by which appeared in the proceedings of the 5th International Conference on Automation, Robotics and App l ica t ions ( ICARA20l l ) . @ 201I IEEE. Y. Fu (X) L. Jin ChangChun Institute of Optics, Fine Mechanics and Physics, Chinese Academe of Sciences, ChangChun, China e-mail: yao..fu.felicity @ gmail.com L. Jin e-mai l : j i n lx @ciomp.ac .cn Y. Fu Graduate University of Chinese Academe of Sciences, Beijing, China Y, Fu . H. Moballegh . R. Rojas . M. Wang Department of Mathematics and Computer Science, Freie Universität Beriin, 14195 Berlin, Germany H. Moballegh e-mail: moballegh@ gmail.com R. Rojas e-mail : Rual.Rojas @fu-berlin.de M. Wang e-mail: miao.wang @fu-berlin.de C. Sen Cupta et al. (eds.), Recent Advances in Robotics and Automation, 275 Studies in Computational Intel l igence 480, DOi: 10. 1007/978-3-642-3'738't-9_2t, @ Springer-Verlag Berlin Heidelberg 2013