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Ball Distance Estimation and Tracking System of Humanoid Soccer Robot

  • Conference paper

Part of the Lecture Notes in Computer Science book series (LNISA,volume 8407)


Modern Humanoid Soccer Robots in uncontrolled environments need to be based on vision and versatile. This paper propose a method for object measurement and ball tracking method using Kalman Filter for Humanoid Soccer, because the ability to accurately track a ball is one of the important features for processing high-definition image. A color-based object detection is used for detecting a ball while PID controller is used for controlling pan tilt camera system. We also modify the robots controller CM-510 in order able to communicate efficiently using main controller. The proposed method is able to determine and estimate the position of a ball and kick the ball correctly with the success percentage greater than 90%. We evaluate and present the performance of the system.


  • Kalman Filter
  • Humanoid Robot
  • Main Controller
  • Motion Command
  • Ball Tracking

These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Budiharto, W., Kanigoro, B., Noviantri, V. (2014). Ball Distance Estimation and Tracking System of Humanoid Soccer Robot. In: Linawati, Mahendra, M.S., Neuhold, E.J., Tjoa, A.M., You, I. (eds) Information and Communication Technology. ICT-EurAsia 2014. Lecture Notes in Computer Science, vol 8407. Springer, Berlin, Heidelberg.

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-55031-7

  • Online ISBN: 978-3-642-55032-4

  • eBook Packages: Computer ScienceComputer Science (R0)