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Object Tracking for the Rotating Table Test

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RoboCup 2022: Robot World Cup XXV (RoboCup 2022)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13561))

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Abstract

In the RoboCup@Work competition, the Rotating Table Test problem refers to the task of automatically grasping an object from a circular table, rotating at constant angular velocity. This task requires the robot to track the target object’s position and grasp it. In this work, we propose a camera-based online tracking system which works in real-time. Our approach is based on the YOLOv5 detection backbone and uses a novel, modified version of the SORT tracker. The tracker is trained solely on a pre-existing detection dataset containing annotated static images, thanks to which the collection of additional situation-specific video data is not required. We evaluate and compare SORT with YOLOv5 and SqueezeDet backbones and demonstrate the improvement in tracking performance when using the former. The evaluation dataset and corresponding annotations are made available for use in the community.

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Notes

  1. 1.

    https://github.com/VincentSch4rf/rtt_tracking

  2. 2.

    https://github.com/VincentSch4rf/RoboCup-RTT-Dataset

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Acknowledgments

We gratefully acknowledge the continued support by the b-it Bonn-Aachen International Center for Information Technology and Hochschule Bonn-Rhein-Sieg.

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Authors and Affiliations

  1. Hochschule Bonn-Rhein-Sieg, Sankt Augustin, Germany

    Vincent Scharf, Ibrahim Shakir Syed, Michał Stolarz, Mihir Mehta & Sebastian Houben

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  1. Vincent Scharf
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  2. Ibrahim Shakir Syed
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  3. Michał Stolarz
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  4. Mihir Mehta
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  5. Sebastian Houben
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Corresponding authors

Correspondence to Vincent Scharf , Ibrahim Shakir Syed , Michał Stolarz , Mihir Mehta or Sebastian Houben .

Editor information

Editors and Affiliations

  1. University of San Diego, La Jolla, CA, USA

    Amy Eguchi

  2. University of Aveiro, Aveiro, Portugal

    Nuno Lau

  3. Walt Disney (Switzerland), Zurich, Switzerland

    Maike Paetzel-Prüsmann

  4. Mahidol University, Bangkok, Thailand

    Thanapat Wanichanon

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Scharf, V., Syed, I.S., Stolarz, M., Mehta, M., Houben, S. (2023). Object Tracking for the Rotating Table Test. In: Eguchi, A., Lau, N., Paetzel-Prüsmann, M., Wanichanon, T. (eds) RoboCup 2022: Robot World Cup XXV. RoboCup 2022. Lecture Notes in Computer Science(), vol 13561. Springer, Cham. https://doi.org/10.1007/978-3-031-28469-4_7

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  • DOI: https://doi.org/10.1007/978-3-031-28469-4_7

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-28468-7

  • Online ISBN: 978-3-031-28469-4

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