Conclusions

We implemented a local vision system for the F180 league that uses an omnidirectional camera. The system fits a world model to the input by finding and tracking color edges and blobs. It is able to process a full resolution, full frame rate video stream on a standard PC. For the production of the Seattle qualification video we used the extracted information about the world as input for behavior control. A single robot was able to drive behind the ball, and to kick it towards the goal, as well as to defend the goal. To control a team of robots, we plan to fuse multiple local views to a single global view. Currently, the image analysis is done on an external PC. As semiconductor technology advances, it will be possible to integrate a small computer on-board the robots.