A debugger tool for vision on humanoid framework

In the RoboCup Standard Platform League (SPL), NAO biped robots are used for all teams in competitions. The robots have two on-board directional cameras and should perform fully autonomous, which requires precise data. The debugging tools always play critical role in developing reliable algorithms and calibrating sensors. In this paper we present a debugger and visualizer for vision of a standard platform league robot. This tool can be utilized for running off-line image processing algorithms aside calibrating the vision parameters like camera offsets and color lookup table. It also provides a very simple connection manager for transferring data with multiple robots and simulator.