Real Time Vision System for a Small Size League Team

Abstract

The RoboCup Small Size League (SSL) is a challenging environment for computer vision applications. Ball and robots move at speeds up to 2 m/s and the need of tracking them precisely requires the implementation of a high performance vision system. We will present the vision system developed in the ITAM Small Size Team (Eagle Knights) explaining the main algorithms and technical decisions made in the implementation. We pay special attention to the details necessary to give new teams a head start in th eir own implementation based on knowledge gained in two years of experience in SSL.