Robust and efficient object recognition for a humanoid soccer robot

Alexander Härtl, Ubbo Visser, Thomas Röfer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Scopus citations


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.

Original languageEnglish (US)
Title of host publicationRoboCup 2013
Subtitle of host publicationRobot World Cup XVII
PublisherSpringer Verlag
Number of pages12
ISBN (Print)9783662444672
StatePublished - 2014
Event17th RoboCup International Symposium, RoboCup 2013 - Eindhoven, Netherlands
Duration: Jul 1 2013Jul 1 2013

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8371 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other17th RoboCup International Symposium, RoboCup 2013

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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