Football detection on Aldebaran Nao

RoboCup is a worldwide movement that has a clear goal set: the target is to be able to win a FIFA World Cup winner by 2050. In order to be able to fulfill the task, the RoboCup Humanoid Soccer World Cup is organized every year. The organizers make the task of playing football more difficult year-by-year. During the last few years, the goals changed from blue and yellow to white. Considering that the robots from both competing teams are also white, the change made the detection of goals more difficult, as the robots had to make distinction between their, their opponent’s goal and the robots. The most important change in the rules of this year’s competition is the change of traditional orange ball, used in different robotics competition, to a ball that is more like a real football ball. As the goals, the robots and the lines are already white, the decision adds a layer of complexity to the robot. The main target of the paper is to research and implement the white ball detection in different situations on a traditional Aldebaran Nao. [1]