Freie Universität Berlin, Institut für Informatik
Takustr. 9, 14195 Berlin, {hundelshbehnkerojas}@inf.fu-berlin.de
Our computer vision system can find the ball and detect other robots as obstacles. The walls of the field are also recognized and are used to determine the initial position of the robot. In order to be able to process the video stream at full frame rate the movement of all objects is tracked, including the walls of the field. The key idea of our approach is to predict the location of color edges in the next frame and to search for such color transitions along lines that are perpendicular to the edge.