VILAO, C. O.PERICO, D. H.SILVA, I. J.HOMEN, T. P. D.Flavio TonidandelReinaldo Bianchi2022-01-122022-01-122015-01-27VILAO, C. O.; PERICO, D. H.; SILVA, I. J.; HOMEN, T. P. D.; TONIDANDEL, F.; BIANCHI, R. A single camera vision system for a humanoid robot. Proceedings - 2nd SBR Brazilian Robotics Symposium, 11th LARS Latin American Robotics Symposium and 6th Robocontrol Workshop on Applied Robotics and Automation, SBR LARS Robocontrol 2014 - Part of the Joint Conference on Robotics and Intelligent Systems, JCRIS 2014, p. 181-186, 2015.https://repositorio.fei.edu.br/handle/FEI/3992© 2014 IEEE.This paper describes a monocular vision system for humanoid robots designed and built to compete in the Robo Cup Humanoid Kid Size League. The proposed vision system allows the robots to track a ball, identify goals, field lines, team mates and opponents, providing information such as distances and estimated location for the robots simultaneously, using threads. With experiments using the real robots it was possible to run the vision system in real time with Full HD camera resolution, thus achieving the main goal of this work.Acesso RestritoArtigo de evento10.1109/SBR.LARS.Robocontrol.2014.51Computational and artificial intelligence-Intelligent robotsHumanoid robotsMulti-robot systemsRobot vision systemsRobotics and automation-Mobile robots