Advanced Perception for Robots in a Closed World Environment

A basic requirement for all mobile robots is a precise, accurate and fast perception of the environment to allow intelligent behavior through interaction with its surrounding. This paper introduces a new method for a reliable, fast and efficient purely omni-directional vision based mobile robot navigation for a closed world environment. The proposed method enables a robot that is driving at a high-speed to detect and classify different objects of different colors by only calibrating one dominant environment color. The correctness and the effectiveness of the introduced approach was evaluated successfully in the highly dynamical RoboCup Middle Size Soccer scenario.