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Vision System

The vision system is used to determine the position and velocity of each robot and the ball.  To capture the images of the pitch, a machine vision camera, running at 60 frames per second, is positioned over the pitch.  The images from this are fed back into a server, which analyses them to determine the required information.
 
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View of the Robot Football Pitch as seen on the Server

To aid in the identification of each robot, and the team for which they play, a pattern of four squares is placed on top of them.  One of these squares will represent the team, being either blue or yellow in colour.  The other three squares are a unique combination of green, magenta, black or white, allowing a particular robot to be identified and it's orientation determined.