3. How to Sense? Use Computer Vision Techniques

Abstract

In a robot soccer game, real-time information about the robots’ and the ball’s dynamically changing coordinate positions and directions of move is vital. In a MiroSoT set-up, such information is obtained using a real-time vision system which consists of a vision algorithm continually processing the digital images captured by a vision board that receives the analog images from a video camera overlooking the complete playground. The FIRA MiroSoT rules specify well defined colours for different objects in the playground, and these are used as major cues for object detection. Vision processing in a robot soccer system is therefore colour-based.