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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.

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.