Fast Image Segmentation, Object Recognition and Localization in a RoboCup Scenario

This paper presents the vision system of the robot soccer team Agilo RoboCuppers 1 { the RoboCup team of the image understanding group (FG BV) at the Technische Universitt at M unchen. We present a fast and robust color classiication method yielding signii-cant regions in the image. The boundaries between adjacent regions are used to localize objects like the ball or other robots on the eld. Furthermore for each player the free motion space is determined and its position and orientation on the eld is estimated. All this is done completely vision based, without any additional sensors.