RoboCup Advanced 3D Monitor

RoboCup Advanced 3D Monitor is a three-dimensional application for visualizing and debugging games of the RoboCup Soccer Simulation League. This paper discusses the issues pertaining the implementation of this monitor using OpenGL, a standard API for rendering high-performance 3D graphics. Our application provides a true 3D soccer game experience maintaining a healthy balance of realistic animation features and high-speed rendering achieved by the implementation of specific computer graphics techniques. Besides its main usefulness as a visualization tool, this monitor may be used as a supporting tool for the development of other robotics techniques. To illustrate this, two of such techniques are discussed here: sensor fusion and Markov localization methods.