Introducing image processing to robocupjunior: PALB vision - A first implementation of live image processing in RCJ soccer

Abstract

For a long time, teams in the RoboCup Junior competition have relied on the same basic sensorical appliances. It is time to evolve. We believe that, the introduction of image processing to RoboCupJunior will take Soccer to a new level of intelligent and less aggressive gameplay. We found it especially challenging to design a system that could not only successfully detect the goal, but also any obstructions, i.e. robots from the opponent's team, in order to score goals more precisely. This work aims to prove that the implementation of image processing does not need to be as much work as one might assume. Our project Palb Vision is designed to serve as an example for other teams in RCJ who plan to use camera-based detection software on their future robots. We use a CMUcam3 with onboard processing connected to an ATmega 2560. The code for visual detection is written in C and runs directly on the CMUcam. The camera only takes into account the small area between the upper and lower edge of the wall and applies three simple filters for each pixel on a horizontal line. We have created a quick and reliable vision system which processes ten frames per second and is very resistant to changing illumination. By implementing a special calibration mode, the pre-game setup is reduced to less than one minute. Palb Vision has turned out to be an improvement to the game of RoboCupJunior Soccer and may provide a robust framework for other teams who wish to adopt live image processing into their strategy. © 2009 Springer Berlin Heidelberg.