SummaryIn this article we describe a self-localization method for soccer robots that solves the “Where am I”-problem by visually perceiving and understanding the structure of the field lines on a soccer playing field. The method accrued from our participation in the RoboCup Middle Size league where fully autonomous robots play soccer on a 8 × 12 m field. The method was successfully applied by our FU-Fighter's Middle Size robots during the world championships in 2004, where we placed 4th.
Robust and real-time self-localization based on omnidirectional vision for soccer robots
