Toward RoboCup without Color Labeling

To overcome these limitations, we propose an algorithm, called the CONTRACTING CURVE DENSITY (CCD) algorithm, for fitting parametric curves to image data. The method neither assumes object-specific color distributions, or specific edge profiles, nor does it need threshold parameters. To separate adjacent regions, we use local criteria that are based on local image statistics. We apply the method to the problem of localizing the ball and show that the CCD algorithm reliably localizes the ball even in the presence of heavily changing illumination, strong clutter, specularity, partial occlusion, and texture.