Progress of Instantaneity in Real-Time ROBOCUP Vision System

In the RoboCup competition, vision system is regarded as of great importance with its high information contents, convenient implementation, and suitability for human sights of common and inexpensive hardware. In this paper, we discuss the vision system of ROBOCUP Small Size League, and introduce a digital way for segmentation of this color based robotic motion, camera calibration is also included. We also represent a new method for color classification using circular Hough transformation. With these efforts, the instantaneity of the system can be improved while the stability and efficiency of processing is confirmed.