抄録
This paper presents a method for 3-D ball position detection in RoboCup Soccer Middle Size League. Recently, a loop shoot is frequently used in Middle Size League. Therefore, we developed a 3-D ball position detection method. In particular, 3-D ball position detection is important for a goalie robot. An omni-directional camera is prevalently used in Middle Size League to obtain a 360 degrees image of the pitch and information on the distance to the ball. However, to detect the height of a flying ball is a demanding task by using only an omni-directional camera. So we added a monocular camera to realize a stereoscopic view of the ball.
