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The development of a vision system for robotic soccer

Robotic soccer is a testbed for new technologies concerning for example vision measurement, artificial intelligence and motion control. The Mission Impossible project was started in 2002 to participate in the middle size league of the Federation of International Robot-soccer Association (FIRA). In this league 5 robots with a size of 7.5x7.5x7.5 cm will play soccer on a table measuring 220x180 cm. Above this table a camera is mounted to see where the team robots, the opponent robots and the ball is. This information will be send to computers which will control the robots via radio frequency. The assignment for the MI20 team is to develop a robot soccer system which can be used as a testbed for all kinds of techniques. This thesis describes the process of developing a vision system for this system. This vison system will have to extract the information needed to control the robots from the camera images as accurately possible. First the requirements for the system are derived. Then an analysis is conducted on what kind of techniques are available to solve this problem. A design is made, deciding which techniques are to be used. Then these techniques are implemented. Finally the system is tested to see if it meets its requirements and conclusions are made. Subjects that will be covered are color segmentation, lens distortion, camera calibration and tracking filters.