Behavior-Based Vision on a 4 Legged Soccer Robot

  • Floris Mantz
  • Pieter Jonker
  • Wouter Caarls
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4020)


In this paper the architecture of a 4 legged soccer robot is divided into a hierarchy of behaviors, where each behavior represents an independent sense-think-act loop. Based on this view we have implemented a behavior-based vision system, improving performance due to object-specific image processing,behavior-specific image processing and behavior-specific self localization. The system was tested under various lighting conditions, off-line using sets of images, and on-line in real tests for a robot in the role of goalkeeper. It appeared hat the performance of the goalie doubled, that it could play under a wider range of lighting and environmental conditions and used less CPU power.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Floris Mantz
    • 1
  • Pieter Jonker
    • 1
  • Wouter Caarls
    • 1
  1. 1.Quantitative Imaging Group, Faculty of Applied SciencesDelft University of TechnologyDelftThe Netherlands

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