抄録
On the RoboCup Middle Size League, official rules have been changed every year to aim at the task that playing with human. For instance, color landmarks such as Balls or Goals are disappeared or the playing field becomes wider etc. Corresponding to this, the techniques other than the past method which uses omni camera and color information are required. Then, in this paper, we describe about an object detection technique that uses the stereo camera and the edge based model named "cylinder model". By this technique, it became possible to detect the field player far from a camera by comparison past method, without color information.
