Flow Direction Prediction of The Ball Movement for Humanoid Robot Soccer Goalkeeper

In Robocup, The most important sensor on humanoid robot soccer is a camera. The camera serves as the eyes of the robot as well as in humans. This camera is used by the robot to detect the ball. The task of Humanoid Robot Soccer as a Goalkeeper is to keep the goal and must be able to block a ball that came directly to the goal from many directions so the ball is not got into the goal. As already been known, the results of the camera image captured is always later than the pictures that has been taken, moreover if the shooting process is added with image processing such as adjusting contrast, brightness, etc. then the delay in image capture will be even greater. This causes late in reaction to the Humanoid Robot Soccer Goalkeeper when it’s blocking the ball that coming from any direction. Therefore we need a computer vision technique to estimate the direction of movement of the ball so there is no delay in reaction to the robot in blocking the ball. In this paper is discussed the flow direction prediction of the ball movement for Humanoid Robot Soccer Goalkeeper. The processing of ball movement prediction is obtained by comparing the previous ball data detection and the latest data detection to get the direction of the ball movement. This robot is a second generation of humanoid robot called EFuRIO soccer (Fußball EEPIS Robot IO).