Combining edge detection and colour segmentation in the Four-Legged League

Humans process images with apparent ease, quickly filtering out useless information and identifying objects based on their shape and colour. In the Four-Legged League of RoboCup, the focus of most vision systems has been on using colour to recognise objects. This single-mindedness has many disadvantages, but edge detection and shape recognition are not panaceas as their computational requirements are too high. This work focuses on a technique to efficiently combine the use of colour and edge detection in order to better recognise the field landmarks and objects found in the controlled environment of the Four-Legged League of RoboCup.