This paper presents selected methods used by the vision system of the German Team, the World Champion in the Sony Four-Legged League in 2004. Color table generalization is introduced as a means to achieve a larger independence of the lighting situation. Camera calibration is necessary to deal with the weaknesses of the new platform used in the league, the Sony Aibo ERS-7. Since the robot camera uses a rolling shutter, motion compensation is required to improve the information extracted from the camera images.
['Walter Nisticò', 'Thomas Röfer']
Improving percept reliability in the sony four-legged robot league