Robust detection of white goals

Abstract

The main goal of this paper is to present a simple, but robust algorithm for detecting white goals in the context of the RoboCup SPL (Standard Platform League). White goals will be used for the first time in the SPL competitions in 2015. The main features of the algorithm are a robust search strategy for detecting the goal posts, and the use of the Y channel image, instead of the color segments, for determining and characterizing the goal posts and the horizontal crossbar. This last aspect is crucial for detecting a white goal placed in a white background. The algorithm is validated in the real world (real robot in a SPL field), showing its ability to detect the while goals even when they are observed in a white background.