An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer

  • Niklas FiedlerEmail author
  • Hendrik Brandt
  • Jan Gutsche
  • Florian Vahl
  • Jonas Hagge
  • Marc Bestmann
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11531)


We are proposing an Open Source ROS vision pipeline for the RoboCup Soccer context. It is written in Python and offers sufficient precision while running with an adequate frame rate on the hardware of kid-sized humanoid robots to allow a fluent course of the game. Fully Convolutional Neural Networks (FCNNs) are used to detect balls while conventional methods are applied to detect robots, obstacles, goalposts, the field boundary, and field markings. The system is evaluated using an integrated evaluator and debug framework. Due to the usage of standardized ROS messages, it can be easily integrated into other teams’ code bases.


RoboCup Open Source Computer vision 



Thanks to the RoboCup team Hamburg Bit-Bots, especially Timon Engelke and Daniel Speck, as well as Norman Hendrich. This research was partially funded by the German Research Foundation (DFG) and the National Science Foundation of China (NSFC) in project Crossmodal Learning, TRR-169. We are grateful to the NVIDIA corporation for supporting our research through the NVIDIA GPU Grant Program ( We used the donated NVIDIA Titan X (Pascal) to train our models.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Niklas Fiedler
    • 1
    Email author
  • Hendrik Brandt
    • 1
  • Jan Gutsche
    • 1
  • Florian Vahl
    • 1
  • Jonas Hagge
    • 1
  • Marc Bestmann
    • 1
  1. 1.Hamburg Bit-Bots, Department of InformaticsUniversity of HamburgHamburgGermany

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