Robust adaptive vision for robot soccer

Abstract

Robot soccer requires vision to be fast, accurate and reliable for a team to perform well. To win competitions, the vision system must work every day under all contest conditions. In practice, the field conditions for robot soccer can vary enormously from field to field, and even from day to day throughout a contest. This paper presents a system that can adapt to rapidly varying light and colouring conditions, while maintaining speed and accuracy. Quantitative results of performance are presented, and applications outside the robot soccer domain illustrated. 1 Introduction The Robot World Cup Initiative (RoboCup) is an international research initiative that uses the domain of robot soccer to foster AI and intelligent robotics research [3]. The robot soccer game is a standard problem where a wide range of technologies can be integrated and examined. International contests allow clearly measurable comparisons between technological approaches to research problems. This paper examines t...