Robust and Efficient Object Recognition for a Humanoid Soccer Robot

Alexander Härtl, Ubbo Visser, Thomas Röfer

In: Sven Behnke , Manuela Veloso , Arnoud Visser , Rong Xiong (Hrsg.). RoboCup 2013: Robot World Cup XVII. RoboCup International Symposium (RoboCup-2013) June 24-July 1 Eindhoven Netherlands Seiten 396-407 Lecture Notes in Artificial Intelligence (LNAI) 8371 Springer 2014.


Static color classification as a first processing step of an object recognition system is still the de facto standard in the RoboCup Standard Platform League (SPL). Despite its efficiency, this approach lacks robustness with regard to changing illumination. We propose a new object recognition system where objects are found based on color similarities. Our experiments with line, goal, and ball recognition show that the new system is real-time capable on a contemporary NAO (version 3.2 and above). We show that the detection rate is comparable to color-table-based object recognition under static lighting conditions and substantially better under changing illumination.

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Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence