Abstract
Static color classification as a first processing step of an object recognition system is still the de facto standard in the RoboCup Standard Platform League (SPL). Despite its efficiency, this approach lacks robustness with regard to changing illumination. We propose a new object recognition system where objects are found based on color similarities. Our experiments with line, goal, and ball recognition show that the new system is real-time capable on a contemporary NAO (version 3.2 and above). We show that the detection rate is comparable to color-table-based object recognition under static lighting conditions and substantially better under changing illumination.