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At present, visual localization of soccer playing robots taking part in the RoboCup contest is mainly achieved by using colored artificial landmarks. As known, this method causes further vision problems like color classification and segmentation under variable light conditions. Additionally, robots confined to use visual sensor information from common cameras usually waste time in switching between the modi of playing soccer and searching landmarks for localization. An upcoming approach to solve these problems is the detection of field lines. Motivated by our research in using a compact symmetry operator for natural feature extraction in mobile robot applications, we propose its application to the RoboCup contest. Symmetry is a structural feature and as results show, it is highly independent of illumination changes and very compliant to the task of line detection. We will motivate symmetry as a natural feature, discuss the symmetry operator and finally present results of the field line extraction.

A Symmetry Operator and Its Application to the RoboCup