Soty-Segment: Robust Color Patch Design to Lighting Condition Variation

Significant developments have been seen over the last few years in the robot soccer domain. Considerable improvements have been made in the areas of robot control, strategy generation, vision processing, etc. In particular, in the vision area, there have been many researches aimed at decreasing processing time. However, many other issues remain in the development of ideal vision system. Despite MiroSot being a well established competition, development of a vision system is still considered as a difficult task. In global vision systems, the development of insensitive system to lighting condition variation is an important issue. This paper proposes a novel color patch design which possesses some advantages from the vision processing viewpoint. It is insensitive to lighting variation, greatly reducing vision setting time as well as providing improved recognition. The effectiveness of the proposed Soty-Segment color patch is demonstrated through real experiments.