Five Years of SSL-Vision – Impact and Development

  • Stefan Zickler
  • Tim Laue
  • José Angelo GurzoniJr.
  • Oliver Birbach
  • Joydeep Biswas
  • Manuela Veloso
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8371)


Since its start in 1997, the setup of the RoboCup Small Size Robot League (SSL) enabled teams to use their own cameras and vision algorithms. In the fast and highly dynamic SSL environment, researchers achieved significant algorithmic advances in real-time complex colored-pattern based perception. Some teams reached, published, and shared effective solutions, but for new teams, vision processing has still been a heavy investment. In addition, it became an organizational burden to handle the multiple cameras from all the teams. Therefore, in 2008, the league started the development of a centralized, shared vision system, called SSL-Vision, which would be provided for all teams. In this paper, we discuss this system’s successful implementation in SSL itself, but also beyond it in other domains. SSL-Vision is an open source system available to any researcher interested in processing colored patterns from static cameras.


Pattern Detection Vision Algorithm Color Segmentation Open Source System Color Calibration 
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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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Stefan Zickler
    • 1
  • Tim Laue
    • 2
  • José Angelo GurzoniJr.
    • 3
  • Oliver Birbach
    • 2
  • Joydeep Biswas
    • 4
  • Manuela Veloso
    • 4
  1. 1.iRobot Corp.BedfordUSA
  2. 2.Cyber-Physical SystemsDeutsches Forschungszentrum für Künstliche Intelligenz GmbHBremenGermany
  3. 3.AI and Robotics Lab.Centro Universitário da FEIS. Bernardo do CampoBrazil
  4. 4.Robotics Institute, Computer Science DepartmentCarnegie Mellon UniversityPittsburghUSA

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