RoboCup: Aibo Team Humboldt/GermanTeam

I was with the team from 2001 to 2008. We became world champion in 2004, 2005, and 2008. Watch how we won the final at RoboCup 2008 in Suzhou, China:

GermanTeam (blue) vs. WrightEagleUnleashed! (red) 1st half		GermanTeam (red) vs. WrightEagleUnleashed! (blue) 2nd half

part 1 no goals	part2 2:0 at 0:20	part 3 3:0 at 3:58	part 4 4:0 at 0:58 5:0 at 3:24

Here is some news coverage:


2008-07-30: Spiegel Online Video	2006-06-01: A nice episode of NOUVO

Microsoft Robotics Developer Studio 2008

I was an intern at Microsoft in spring 2008. Use Microsoft Robotics Developer Studio! Use the DSS Log Analyzer! Read about it: July CTP of Microsoft Robotics Developer Studio 2008

Publications

2008

Using Reference Objects to Improve Vision-Based Bearing Measurements by Heinrich Mellmann, Matthias Jüngel, Michael Spranger. In: IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems (IROS 2008), pages 3939-3945, IEEE [bibtex]

GermanTeam 2008: The German National RoboCup Team by David Becker, Jörg Brose, Daniel Göhring, Matthias Jüngel, Max Risler, Thomas Röfer. In: Luca Iocchi, Hitoshi Matsubara, Alfredo Weitzenfeld, Changjiu Zhou (Editors), RoboCup 2008: Robot Soccer World Cup XII, Springer [bibtex]

Memory-Based State-Estimation by Matthias Jüngel, Heinrich Mellmann. Fundamenta Informaticae, No. 85, pages 297-311 [bibtex]

2007

Self-Localization Based on a Short-Term Memory of Bearings and Odometry by Matthias Jüngel. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007) [bibtex]

Memory-Based Localization by Matthias Jüngel. In: Ludwik Czaja (Editor), Proceedings of the Concurrency Specification and Programming Workshop (CS&P 2007), No. 2, pages 333-344 [bibtex]

Bearing-Only Localization for Mobile Robots by Matthias Jüngel. In: Proceedings of the 2007 International Conference on Advanced Robotics (ICAR 2007) Jeju Korea [bibtex]

GermanTeam 2007: The German National RoboCup Team by Thomas Röfer, Jörg Brose, Daniel Göhring, Matthias Jüngel, Tim Laue, Max Risler. In: U. Visser, F. Ribeiro, T. Ohashi, F. Dellaert (Editors), RoboCup 2007: Robot Soccer World Cup XI Preproceedings [bibtex]

Self-Localization Using Odometry and Horizontal Bearings to Landmarks by Matthias Jüngel, Max Risler. In: U. Visser, F. Ribeiro, T. Ohashi, F. Dellaert (Editors), RoboCup 2007: Robot Soccer World Cup XI Preproceedings [bibtex]

Improving Vision-Based Distance Measurements using Reference Objects by Matthias Jüngel, Heinrich Mellmann, Michael Spranger. In: U. Visser, F. Ribeiro, T. Ohashi, F. Dellaert (Editors), RoboCup 2007: Robot Soccer World Cup XI Preproceedings, Springer [bibtex]

2006

XABSL - A Pragmatic Approach to Behavior Engineering by Martin Loetzsch, Max Risler, Matthias Jüngel. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), pages 5124-5129 [bibtex]

GermanTeam 2006: The German National RoboCup Team by Röfer T., Brose J., Carls E., Carstens J., Göhring D., Jüngel M., Laue T., Oberlies T., Oesau S., Risler M., Spranger M., Werner C., Zimmer J.. In: RoboCup 2006: Robot Soccer World Cup X Lecture Notes in Artificial Intelligence, Springer [bibtex]

Humanoid Team Humboldt Team Description 2006 by Manfred Hild, Matthias Jüngel, Michael Spranger. In: RoboCup 2006: Robot Soccer World Cup X Lecture Notes in Artificial Intelligence, Springer [bibtex]

Herausforderung für KI und Robotik by Hans-Dieter Burkhard, Ubbo Visser, Matthias Jüngel, Ansgar Bredenfeld, Thomas Christaller. Künstliche Intelligenz: KI, No. 20, pages 5-11 [bibtex]

KI auf dem Fußballfeld by Ansgar Bredenfeld, Hans-Dieter Burkhard, Martin Riedmiller, Raul Rojas. c´t, No. 13, pages 102-109 [bibtex]

Further Studies On The Use Of Negative Information In Mobile Robot Localization by Jan Hoffmann, Michael Spranger, Daniel Göhring, Matthias Jüngel, Hans-Dieter Burkhard. In: Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA), IEEE [bibtex]

2005

Making Use Of What You Don't See: Negative Information In Markov Localization by Jan Hoffmann, Michael Spranger, Daniel Göhring, Matthias Jüngel. In: Proceedings of the 2005 IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), IEEE [bibtex]

Negative Information and Proprioception in Monte Carlo Self-Localization for a 4-Legged Robot by Jan Hoffmann, Michael Spranger, Daniel Göhring, Matthias Jüngel. Nineteenth International Joint Conference on Artificial Intelligence (IJCAI), Workshop on Agents in Real-Time and Dynamic Environments [bibtex]

@ARTICLE{ 2005-08-ijcaj05ws-HoffmannSprangerGoehringJuengel-NegativeInformationAndProprioceptionInMonteCarloSelfLocalizationForAFourLeggedRobot,
  author = { Jan Hoffmann and Michael Spranger and Daniel Göhring and Matthias Jüngel }, 
  title = { Negative Information and Proprioception in Monte Carlo Self-Localization for a 4-Legged Robot }, 
  journal = { Nineteenth International Joint Conference on Artificial Intelligence (IJCAI) }, 
  year = { 2005 }, 
  note = { Workshop on Agents in Real-Time and Dynamic Environments }, 
  url = { http://www.robocup.de/aiboteamhumboldt/papers/2005-08-ijcaj05ws-HoffmannSprangerGoehringJuengel-NegativeInformationAndProprioceptionInMonteCarloSelfLocalizationForAFourLeggedRobot.pdf }
}

GermanTeam 2005: The German National RoboCup Team by Thomas Röfer, Ronnie Brunn, Stefan Czarnetzki, Marc Dassler, Matthias Hebbel, Matthias Jüngel, Thorsten Kerkhof, Walter Nistico, Tobias Oberlies, Carsten Rohde, Michael Spranger, Christine Zarges. In: Ansgar Bredenfeld, Adam Jacoff, Itsuki Noda, Yasutake Takahashi (Editors), RoboCup 2005: Robot Soccer World Cup IX, Lecture Notes in Artificial Intelligence, Springer, Full team report can be downloaded at http://www.germanteam.org/ [bibtex]

@INPROCEEDINGS{ 2005-07-rc05-RoeferEtAl-GermanTeam2005tdp,
  author = { Thomas Röfer and Ronnie Brunn and Stefan Czarnetzki and Marc Dassler and Matthias Hebbel and Matthias Jüngel and Thorsten Kerkhof and Walter Nistico and Tobias Oberlies and Carsten Rohde and Michael Spranger and Christine Zarges }, 
  title = { GermanTeam 2005: The German National RoboCup Team }, 
  booktitle = { RoboCup 2005: Robot Soccer World Cup IX }, 
  year = { 2005 }, 
  editor = { Ansgar Bredenfeld and Adam Jacoff and Itsuki Noda and Yasutake Takahashi }, 
  series = { Lecture Notes in Artificial Intelligence }, 
  publisher = { Springer }, 
  note = { Full team report can be downloaded at http://www.germanteam.org/ }, 
  url = { http://www.robocup.de/aiboteamhumboldt/papers/2005-07-rc05-RoeferEtAl-GermanTeam2005tdp.pdf }
}

Exploiting the Unexpected: Negative Evidence Modeling and Proprioceptive Motion Modeling for Improved Markov Localization by Jan Hoffmann, Michael Spranger, Daniel Göhring, Matthias Jüngel. In: Ansgar Bredenfeld, Adam Jacoff, Itsuki Noda, Yasutake Takahashi (Editors), RoboCup 2005: Robot Soccer World Cup IX, LNAI, pages 24-35, Springer [bibtex]

@INPROCEEDINGS{ 2005-07-rc05-HoffmannSprangerGoehringJuengel-ExploitingTheUnexpected,
  author = { Jan Hoffmann and Michael Spranger and Daniel Göhring and Matthias Jüngel }, 
  title = { Exploiting the Unexpected: Negative Evidence Modeling and Proprioceptive Motion Modeling for Improved Markov Localization }, 
  booktitle = { RoboCup 2005: Robot Soccer World Cup IX }, 
  year = { 2006 }, 
  editor = { Ansgar Bredenfeld and Adam Jacoff and Itsuki Noda and Yasutake Takahashi }, 
  series = { LNAI }, 
  pages = { 24--35 }, 
  publisher = { Springer }, 
  abstract = { This paper explores how sensor and motion modeling can be improved to better Markov localization by exploiting deviations from expected sensor readings. Proprioception is achieved by monitoring target and actual motions of robot joints. This provides information about whether or not an action was executed as desired yielding a quality measure of the current odometry. Odometry is usually extremely prone to errors for legged robots especially in dynamic environments where collisions are often unavoidable due to the many degrees of freedom of the robot and the numerous possibilities of motion hindrance. A quality measure helps differentiate the periods of unhindered motion from periods where robot motion was impaired for whatever reason. Negative evidence is collected when a robot fails to detect a landmark that it expects to see. Therefore the gaze direction of the camera has to be modeled accordingly. This enables the robot to localize where it could not when only using landmarks. In the general localization task the probability distribution converges more quickly when negative information is taken into account. }, 
  url = { http://www.robocup.de/aiboteamhumboldt/papers/2005-07-rc05-HoffmannSprangerGoehringJuengel-ExploitingTheUnexpected.pdf }
}

2004

GermanTeam 2004: The German National RoboCup Team by Thomas Röfer, Ronnie Brunn, Ingo Dahm, Matthias Hebbel, Jan Hoffmann, Matthias Jüngel, Tim Laue, Martin Lötzsch, Walter Nistico, Michael Spranger. In: Daniele Nardi, Martin Riedmiller, Claude Sammut, José Santos-Victor (Editors), RoboCup 2004: Robot Soccer World Cup VIII, Lecture Notes in Artificial Intelligence, No. 3276, Springer, Full team report can be downloaded at http://www.germanteam.org/ [bibtex]

@INPROCEEDINGS{ 2004-07-rc04-RoeferEtAl-GermanTeam2004tdp,
  author = { Thomas Röfer and Ronnie Brunn and Ingo Dahm and Matthias Hebbel and Jan Hoffmann and Matthias Jüngel and Tim Laue and Martin Lötzsch and Walter Nistico and Michael Spranger }, 
  title = { GermanTeam 2004: The German National RoboCup Team }, 
  booktitle = { RoboCup 2004: Robot Soccer World Cup VIII }, 
  year = { 2005 }, 
  editor = { Daniele Nardi and Martin Riedmiller and Claude Sammut and José Santos-Victor }, 
  volume = { 3276 }, 
  series = { Lecture Notes in Artificial Intelligence }, 
  publisher = { Springer }, 
  note = { Full team report can be downloaded at http://www.germanteam.org/ }, 
  url = { http://www.robocup.de/aiboteamhumboldt/papers/2004-07-rc04-RoeferEtAl-GermanTeam2004tdp }
}

Using Layered Color Precision for a Self-Calibrating Vision System by Matthias Jüngel. In: Daniele Nardi, Martin Riedmiller, Claude Sammut, José Santos-Victor (Editors), 8th International Workshop on RoboCup 2004 (Robot World Cup Soccer Games and Conferences), LNAI, No. 3276, pages 209-220, Springer [bibtex]

@INPROCEEDINGS{ 2004-07-rc04-Juengel-UsingLayeredColorPrecisionForASelfCalibratingVisionSystem,
  author = { Matthias Jüngel }, 
  title = { Using Layered Color Precision for a Self-Calibrating Vision System }, 
  booktitle = { 8th International Workshop on RoboCup 2004 (Robot World Cup Soccer Games and Conferences) }, 
  year = { 2005 }, 
  editor = { Daniele Nardi and Martin Riedmiller and Claude Sammut and José Santos-Victor }, 
  volume = { 3276 }, 
  series = { LNAI }, 
  pages = { 209--220 }, 
  publisher = { Springer }, 
  abstract = { This paper presents a vision system for robotic soccer which was tested on Sony's four legged robot Aibo. The input for the vision system are images of the camera and the sensor readings of the robot's head joints the output are the positions of all recognized objects in relation to the robot. The object recognition is based on the colors of the objects and uses a color look-up table. The vision system creates the color look-up table on its own during a soccer game. Thus no prerun calibration is needed and the robot can cope with inhomogeneous or changing light on the soccer field. It is shown how different layers of color representation can be used to refine the results of color classification. However the self-calibrated color look-up table is not as accurate as a hand-made. Together with the introduced object recognition which is very robust relating to the quality of the color table the self-calibrating vision works very well. This robustness is achieved using the detection of edges on scan lines. }, 
  url = { http://www.robocup.de/aiboteamhumboldt/papers/2004-07-rc04-Juengel-UsingLayeredColorPrecisionForASelfCalibratingVisionSystem }
}

A Vision Based System for Goal-Directed Obstacle Avoidance by Jan Hoffmann, Matthias Jüngel, Martin Lötzsch. In: Daniele Nardi, Martin Riedmiller, Claude Sammut, José Santos-Victor (Editors), 8th International Workshop on RoboCup 2004 (Robot World Cup Soccer Games and Conferences), LNAI, No. 3276, pages 418-425, Springer [bibtex]

@INPROCEEDINGS{ 2004-07-rc04-HoffmannJuengelLoetzsch-AVisionBasedSystemForGoalDirectedObstacleAvoidance,
  author = { Jan Hoffmann and Matthias Jüngel and Martin Lötzsch }, 
  title = { A Vision Based System for Goal-Directed Obstacle Avoidance }, 
  booktitle = { 8th International Workshop on RoboCup 2004 (Robot World Cup Soccer Games and Conferences) }, 
  year = { 2005 }, 
  editor = { Daniele Nardi and Martin Riedmiller and Claude Sammut and José Santos-Victor }, 
  volume = { 3276 }, 
  series = { LNAI }, 
  pages = { 418--425 }, 
  publisher = { Springer }, 
  abstract = { We present a complete system for obstacle avoidance for a mobile robot. It was used in the RoboCup 2003 obstacle avoidance challenge in the Sony Four Legged League. The system enables the robot to detect unknown obstacles and reliably avoid them while advancing toward a target. It uses monocular vision data with a limited field of view. Obstacles are detected on a level surface of known color(s). A radial model is constructed from the detected obstacles giving the robot a representation of its surroundings that integrates both current and recent vision information. Sectors of the model currently outside the current field of view of the robot are updated using odometry. Ways of using this model to achieve accurate and fast obstacle avoidance in a dynamic environment are presented and evaluated. The system proved highly successful by winning the obstacle avoidance challenge and was also used in the RoboCup championship games. }, 
  url = { http://www.robocup.de/aiboteamhumboldt/papers/2004-07-rc04-HoffmannJuengelLoetzsch-AVisionBasedSystemForGoalDirectedObstacleAvoidance.pdf }
}

A Vision System for RoboCup: Diploma Thesis by Matthias Jüngel. [bibtex]

@MASTERSTHESIS{ 2004-02-diplomaThesis-Juengel-AVisionSystemForRoboCup,
  author = { Matthias Jüngel }, 
  title = { A Vision System for RoboCup: Diploma Thesis }, 
  school = { Institut für Informatik Humboldt-Universität zu Berlin }, 
  year = { 2004 }, 
  type = { diploma_thesis }, 
  abstract = { This diploma-thesis presents a vision system for robotic soccer which was developed and implemented by the author and tested on Sony's four legged robot Aibo. The input for the vision system are images of the camera and the sensor readings of the robot's head joints the output is a set of percepts where each percept describes the position of a recognized object in relation to the robot. There are two main features of the vision system: it is fast and it needs no manual color calibration. The high processing speed is reached by an attention based distribution of scan lines over the image which leads to a reduced number of image pixels that have to be processed. During the normal operation of the robot the colors are calibrated by the vision system itself using knowledge about the environment of the robot. The adaptation of colors is based on statistics which are computed when recognizing objects. Three different levels of color representation are used to refine the color calibration while the robot explores more and more parts of its environment. Experiments on Sony's four-legged robot Aibo show that the method is able to recognize and distinguish objects under a wide range of different lighting conditions and is able to recalibrate in appropriate time. }, 
  url = { http://www.robocup.de/aiboteamhumboldt/papers/2004-02-diplomaThesis-Juengel-AVisionSystemForRoboCup.pdf }
}

2003

Vision-Based Fast and Reactive Monte-Carlo Localization by Thomas Röfer, Matthias Jüngel. In: Daniel Polani, Andrea Bonarini, Brett Browning, Kazuo Yoshida (Editors), Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA), pages 856-861, IEEE [bibtex]

@INPROCEEDINGS{ 2003-09-icra03-RoeferJuengel-VisionBasedFastAndReactiveMonteCarloLocalization,
  author = { Thomas Röfer and Matthias Jüngel }, 
  title = { Vision-Based Fast and Reactive Monte-Carlo Localization }, 
  booktitle = { Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA) }, 
  year = { 2003 }, 
  editor = { Daniel Polani and Andrea Bonarini and Brett Browning and Kazuo Yoshida }, 
  pages = { 856--861 }, 
  publisher = { IEEE }, 
  abstract = { This paper presents a fast approach for vision-based self-localization in RoboCup. The vision system extracts the features required for localization without processing the whole image and is a first step towards independence of lighting conditions. In the field of self-localization some new ideas are added to the well-known Monte- Carlo localization approach that increase both stability and reactivity while keeping the processing time low. }, 
  url = { http://www.robocup.de/aiboteamhumboldt/papers/2003-09-icra03-RoeferJuengel-VisionBasedFastAndReactiveMonteCarloLocalization.pdf }
}

Fast and robust edge-based localization in the Sony four-legged robot league by Thomas Röfer, Matthias Jüngel. In: Daniel Polani, Andrea Bonarini, Brett Browning, Kazuo Yoshida (Editors), 7th International Workshop on RoboCup 2003 (Robot World Cup Soccer Games and Conferences), LNAI, No. 3020, pages 262-273, Springer [bibtex]

@INPROCEEDINGS{ 2003-07-rc03-RoeferJuengel-EdgeBasedLocalization,
  author = { Thomas Röfer and Matthias Jüngel }, 
  title = { Fast and robust edge-based localization in the Sony four-legged robot league }, 
  booktitle = { 7th International Workshop on RoboCup 2003 (Robot World Cup Soccer Games and Conferences) }, 
  year = { 2004 }, 
  editor = { Daniel Polani and Andrea Bonarini and Brett Browning and Kazuo Yoshida }, 
  volume = { 3020 }, 
  series = { LNAI }, 
  pages = { 262--273 }, 
  publisher = { Springer }, 
  abstract = { This paper presents a fast approach for edge-based selflocalization in RoboCup. The vision system extracts edges between the field and field lines borders and goals following a grid-based approach without processing whole images. These edges are employed for the selflocalization of the robot. Both image processing and self-localization work in real-time on a Sony Aibo i. e. at the frame rate of the camera. The localization method was evaluated using a laser range sensor at the field border as a reference system. }, 
  url = { http://www.robocup.de/aiboteamhumboldt/papers/2003-07-rc03-RoeferJuengel-EdgeBasedLocalization.pdf }
}

GermanTeam 2003 by Thomas Röfer, Ingo Dahm, Uwe Düffert, Jan Hoffmann, Matthias Jüngel, Martin Kallnik, Martin Lötzsch, Max Risler, Max Stelzer, Jens Ziegler. In: Daniel Polani, Brett Browning, Andrea Bonarini (Editors), RoboCup 2003: Robot Soccer World Cup VII, Lecture Notes in Artificial Intelligence, No. 3020, pages 114-124, Springer, more detailed in GermanTeam RoboCup 2003. Technical Report (199 pages http://www.germanteam.org/GT2003.pdf) [bibtex]

@INPROCEEDINGS{ 2003-07-rc03-RoeferEtAlGermanTeam2003tdp,
  author = { Thomas Röfer and Ingo Dahm and Uwe Düffert and Jan Hoffmann and Matthias Jüngel and Martin Kallnik and Martin Lötzsch and Max Risler and Max Stelzer and Jens Ziegler }, 
  title = { GermanTeam 2003 }, 
  booktitle = { RoboCup 2003: Robot Soccer World Cup VII }, 
  year = { 2004 }, 
  editor = { Daniel Polani and Brett Browning and Andrea Bonarini }, 
  volume = { 3020 }, 
  series = { Lecture Notes in Artificial Intelligence }, 
  pages = { 114--124 }, 
  address = { Padova Italy }, 
  publisher = { Springer }, 
  note = { more detailed in GermanTeam RoboCup 2003. Technical Report (199 pages http://www.germanteam.org/GT2003.pdf) }, 
  url = { http://www.robocup.de/aiboteamhumboldt/papers/2003-07-rc03-RoeferEtAlGermanTeam2003tdp.pdf }
}

Designing Agent Behavior with the Extensible Agent Behavior Specification Language XABSL by Martin Lötzsch, Joscha Bach, Hans-Dieter Burkhard, Matthias Jüngel. In: Daniel Polani, Brett Browning, Andrea Bonarini, Kazuo Yoshida (Editors), RoboCup 2003: Robot Soccer World Cup VII, LNAI, No. 3020, Springer [bibtex]

@INPROCEEDINGS{ 2003-07-rc03-LoetzschBachBurkhardJuengel-DesigningAgentBehaviorWithTheExtensibleAgentBehaviorSpecificationLanguageXABSL,
  author = { Martin Lötzsch and Joscha Bach and Hans-Dieter Burkhard and Matthias Jüngel }, 
  title = { Designing Agent Behavior with the Extensible Agent Behavior Specification Language XABSL }, 
  booktitle = { RoboCup 2003: Robot Soccer World Cup VII }, 
  year = { 2004 }, 
  editor = { Daniel Polani and Brett Browning and Andrea Bonarini and Kazuo Yoshida }, 
  volume = { 3020 }, 
  series = { LNAI }, 
  publisher = { Springer }, 
  abstract = { Specific behavior description languages prove to be suitable replacements to native programming language like C++ when the number and complexity of behavior patterns of an agent increases. The XML based Extensible Agent Behavior Specification Language (XABSL) also simplifies the process of specifying complex behaviors and supports the design of both very reactive and long term oriented behaviors. XABSL uses hierarchies of behavior modules called options that contain state machines for decision making. In this paper we introduce the architecture behind XABSL the formalization of that architecture in XML and the software library XabslEngine that runs the formalized behavior on an agent platform. The GermanTeam employed XABSL in the RoboCup Sony Four Legged League competitions in Fukuoka. }, 
  citeseerurl = { http://citeseer.ist.psu.edu/585526.html }, 
  url = { http://www.robocup.de/aiboteamhumboldt/papers/2003-07-rc03-LoetzschBachBurkhardJuengel-DesigningAgentBehaviorWithTheExtensibleAgentBehaviorSpecificationLanguageXABSL.pdf }
}

A Real-Time Auto-Adjusting Vision System for Robotic Soccer by Matthias Jüngel, Jan Hoffmann, Martin Lötzsch. In: Daniel Polani, Andrea Bonarini, Brett Browning, Kazuo Yoshida (Editors), 7th International Workshop on RoboCup 2003 (Robot World Cup Soccer Games and Conferences), LNAI, No. 3020, pages 214-225, Springer [bibtex]

@INPROCEEDINGS{ 2003-07-rc03-JuengelHoffmannLoetzsch-ARealTimeAutoAdjustingVisionSystemForRoboticSoccer,
  author = { Matthias Jüngel and Jan Hoffmann and Martin Lötzsch }, 
  title = { A Real-Time Auto-Adjusting Vision System for Robotic Soccer }, 
  booktitle = { 7th International Workshop on RoboCup 2003 (Robot World Cup Soccer Games and Conferences) }, 
  year = { 2004 }, 
  editor = { Daniel Polani and Andrea Bonarini and Brett Browning and Kazuo Yoshida }, 
  volume = { 3020 }, 
  series = { LNAI }, 
  pages = { 214--225 }, 
  publisher = { Springer }, 
  abstract = { This paper presents a real-time approach for object recognition in robotic soccer. The vision system does not need any calibration and adapts to changing lighting conditions during run time. The adaptation is based on statistics which are computed when recognizing objects and leads to a segmentation of the color space to different color classes. Based on attention scan lines are distributed over the image ensuring that all objects of interest intersect with the number of lines necessary for recognition. The object recognition checks the scan lines for characteristic edges and for typical groupings of color classes to find and classify points on the outlines of objects. These points are used to calculate size and position of the objects in the image. Experiments on Sony's four-legged robot Aibo show that the method is able to recognize and distinguish objects under a wide range of different lighting conditions. }, 
  url = { http://www.robocup.de/aiboteamhumboldt/papers/2003-07-rc03-JuengelHoffmannLoetzsch-ARealTimeAutoAdjustingVisionSystemForRoboticSoccer.pdf }
}

2002

Using pattern matching on a flexible horizon-aligned grid for robotic vision by Joscha Bach, Matthias Jüngel. Concurrency Specification and Programming - CSP'2002, No. 1, pages 11-19 [bibtex]

GermanTeam 2002 by Uwe Düffert, Matthias Jüngel, Tim Laue, Martin Lötzsch, Max Risler, Thomas Röfer. In: Gal A. Kaminka, Pedro U. Lima, Raúl Rojas (Editors), RoboCup 2002: Robot Soccer World Cup VI, LNAI, No. 2752, pages 114-124, Springer, more detailed in GermanTeam RoboCup 2002. Technical Report (178 pages http://www.tzi.de/kogrob/papers/GermanTeam2002.pdf) [bibtex]

2001

GermanTeam 2001 by Ronnie Brunn, Uwe Düffert, Matthias Jüngel, Tim Laue, Martin Lötzsch, Sebastian Petters, Max Risler, Thomas Röfer, Kai Spiess, Andreas Sztybryc. In: Andreas Birk, Silvia Coradeschi, Satoshi Tadokoro (Editors), RoboCup 2001: Robot Soccer World Cup V, Lecture Notes in Artificial Intelligence, No. 2377, pages 705-708, Springer, more detailed in GermanTeam RoboCup 2001. Technical Report (41 pages http://www.tzi.de/kogrob/papers/GermanTeam2001report.pdf) [bibtex]

@INPROCEEDINGS{ 2001-07-rc01-BrunnEtAlGermanTeam2001tdp,
  author = { Ronnie Brunn and Uwe Düffert and Matthias Jüngel and Tim Laue and Martin Lötzsch and Sebastian Petters and Max Risler and Thomas Röfer and Kai Spiess and Andreas Sztybryc }, 
  title = { GermanTeam 2001 }, 
  booktitle = { RoboCup 2001: Robot Soccer World Cup V }, 
  year = { 2002 }, 
  editor = { Andreas Birk and Silvia Coradeschi and Satoshi Tadokoro }, 
  volume = { 2377 }, 
  series = { Lecture Notes in Artificial Intelligence }, 
  pages = { 705--708 }, 
  address = { Seattle WA }, 
  publisher = { Springer }, 
  note = { more detailed in GermanTeam RoboCup 2001. Technical Report (41 pages http://www.tzi.de/kogrob/papers/GermanTeam2001report.pdf) }, 
  url = { http://www.robocup.de/aiboteamhumboldt/papers/2001-07-rc01-BrunnEtAlGermanTeam2001tdp.pdf }
}

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