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This paper describes a complete and efficient vision system developed for the robotic soccer team of the University of Aveiro, CAMBADA (Cooperative Autonomous Mobile roBots with Advanced Distributed Architecture). The system consists on a firewire camera mounted vertically on the top of the robots. A hyperbolic mirror placed above the camera reflects the 360 degrees of the field around the robot. The omnidirectional system is used to find the ball, the goals, detect the presence of obstacles and the white lines, used by our localization algorithm. In this paper we present a set of algorithms to extract efficiently the color information of the acquired images and, in a second phase, extract the information of all objects of interest. Our vision system architecture uses a distributed paradigm where the main tasks, namely image acquisition, color extraction, object detection and image visualization, are separated in several processes that can run at the same time. We developed an efficient color extraction algorithm based on lookup tables and a radial model for object detection. Our participation in the last national robotic contest, ROBOTICA 2007, where we have obtained the first place in the Medium Size League of robotic soccer, shows the effectiveness of our algorithms. Moreover, our experiments show that the system is fast and accurate having a maximum processing time independently of the robot position and the number of objects found in the field.

An Omnidirectional Vision System for Soccer Robots