A Ground Truth Vision System for Robotic Soccer

António J. R. Neves, Fred Gomes, Paulo Dias, Alina Trifan


Robotic soccer represents an innovative and appealing test bed for the most recent advances in multi-agent systems, artificial intelligence, perception and navigation and biped walking. The main sensorial element of a soccer robot must be its perception system, most of the times based on a digital camera, through which the robot analyses the surrounding world and performs accordingly. Up to this date, the validation of the vision system of a soccer robots can only be related to the way the robot and its team mates interpret the surroundings, relative to their owns. In this paper we propose an external monitoring vision system that can act as a ground truth system for the validations of the objects of interest of a robotic soccer game, mainly robots and ball. The system we present is made of two to four digital cameras, strategically positioned above the soccer field. We present preliminary results regarding the accuracy of the detection of a soccer ball, which proves that such a system can indeed be used as a provider for ground truth ball positions on the field during a robotic soccer game.


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Paper Citation

in Harvard Style

Neves A., Gomes F., Dias P. and Trifan A. (2016). A Ground Truth Vision System for Robotic Soccer . In Proceedings of the 5th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM, ISBN 978-989-758-173-1, pages 684-689. DOI: 10.5220/0005817506840689

in Bibtex Style

author={António J. R. Neves and Fred Gomes and Paulo Dias and Alina Trifan},
title={A Ground Truth Vision System for Robotic Soccer},
booktitle={Proceedings of the 5th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,},

in EndNote Style

JO - Proceedings of the 5th International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,
TI - A Ground Truth Vision System for Robotic Soccer
SN - 978-989-758-173-1
AU - Neves A.
AU - Gomes F.
AU - Dias P.
AU - Trifan A.
PY - 2016
SP - 684
EP - 689
DO - 10.5220/0005817506840689