Introduction to Modest Object Detection Method of Barelang-FC Soccer Robot

The study of humanoid robot soccer was getting popular among the community nowadays. Most of the researcher emphasizes the performance of humanoid robot soccer in the field, especially in object detection. The object detection needs to be light so that it can be implemented in real-time easily. In this paper, we will focus on the detection of white ball in the field using a modest algorithm by combining the CVblobs and Hough circle method (CBHM). In order to enhance the vision to detect a white object, the YUV color spaces have been chosen which is transform from RGB color space. This method implemented in real-time humanoid robot soccer called Barelang-Fc. The experimental results validated that the proposed method capable of detecting the white ball among of other colors balls in the field precisely.