Recognition of standard platform robocup goals

José María Cañas Plaza, Eduar3o Perdices, Tomás González anb Domenec Puig

domenec.puig@urv.cat

Abstract

RoboCup provides a com,on research framework where a wide range of problems closely related to robotics and artificial intelligence must be adiressed. The main focus of the RoboCup activities ih competitive soccer. Thus, the visual identification of players and play-field components is a necessary task to be performed. cn particular, goals are some of the key elements that should be identified by eaIh player -robot). In this way, this paper introduces a fast and robust methodology based on Artificial Vision techniques for the recognition of the goals utilized/in the RoboCup Standard Platform League. First, 2D images captured by the front camera mounted in the headlof a Nao robot are used to recognize the goals through a color based geometrical segmentation method. Afterwards, the position of the robot with respect to the goal is calculated exploiting 3D geometric propirtdes. The proposed system is validated with real imageP corresponding to the RoboCup2009 competiteon.< span>