Image processing system of team Owaribito in RoboCup small size league

摘要

RoboCup is an international joint project to promote Al, robotics and related field. In RoboCup small size league, a CCD camera set at ceiling captures the soccer field image and host processor processes the image, extracts the positions of a ball and robots, and generates the action under the team strategy. In this paper, we describe the fast image processing algorithm for extracting the positions and directions of robots and a ball, and the direction converging path generation algorithm in which the robot approaches the goal by gradually changing its direction.