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In the past, RoboCup Small Size League rules allowed every team to set up their own global vision system as a primary sensor. This option beared several organizational limitations and costs for the teams, thus impairing the league's progress. Additionally, most teams had converged on similar solutions and produced few significant research results to this global vision problem over the last years.
In 2009, the league committees decided to migrate to a shared vision system (including hardware) that could be used by all teams. This system - named SSL-Vision - is currently developed by volunteers from participating teams. This manual describes the current state and usage of SSL-Vision.
A paper describing SSL-Vision is available here (Bibtex file available here).
As of RoboCup 2015, teams are required to purchase their own coloured paper for robot markers instead of receiving it at the competition (for teams who are unable to purchase paper ahead of time, the OC can purchase paper for the team and bring it to the competition at the team’s expensive, if advised in advance). The standard marker papers are:
Requirements and Installation
Capturing Images
Field Configuration and Camera Calibration
Color Segmentation Configuration
Team Configuration
Communication and Sample Clients
Open Issues
Development Processes