An Embedded Vision Sensor for Robot Soccer

Wilfried Kubinger, Franz Rinnerthaler, Josef Langer, Martin Humenberger

Research output: Chapter in Book/Report/Conference proceedingsConference contributionpeer-review

2 Citations (Scopus)


We present an embedded vision sensor to be used for robot soccer in the MiroSot league of the Federation of the International Robotsoccer Association. The vision sensor is based on a DSP/FPGA co-processor system and uses a FireWire-camera. The vision algorithms are specifically designed to optimally utilize the resources of the embedded system. The achieved embedded vision sensor is able to work at full camera framerate (60fps) with full image resolution (640×480 pixels) without the need of any resources of the host computer.

Original languageEnglish
Title of host publicationComputer Aided Systems Theory - EUROCAST 2007 - 11th International Conference on Computer Aided Systems Theory, Revised Selected Papers
PublisherIUCTC Las Palmas de Gran Canaria
Number of pages8
ISBN (Print)9783540758662
Publication statusPublished - 2007
EventInternational Conference Computer Aided Systems Theory EUROCAST 2007 - Las Palmas, Spain
Duration: 12 Feb 200717 Feb 2007

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume4739 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


ConferenceInternational Conference Computer Aided Systems Theory EUROCAST 2007
CityLas Palmas
Internet address


  • Digital Signal Processor (DSP)
  • Embedded vision system
  • Field-programmable Gate Array (FPGA)
  • Robot soccer


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