Adaptive arc fitting for ball detection in RoboCup

摘要

This paper presents an edge-based ball detection system for use in RoboCup robots. The algorithm can be economically coded for real-time operation in integer maths digital signal processing units. It allows colour dependencies in existing ball detection algorithms to be relaxed. This work is undertaken as part of the world-wide RoboCup project which aims to stimulate robot development by investigating difficult test problems. 1