Silva, H.Almeida, J. M.Lima, L.Martins, A.Silva, E. P.2015-11-202015-11-202008http://hdl.handle.net/10400.22/6973in RoboCup 2007: Robot Soccer World Cup XIThis paper propose a real-time vision framework for mobile robotics and describes the current implementation. The pipeline structure further reduces latency and allows a paralleled hardware implementation. A dedicated hardware vision sensor was developed in order to take advantage of the proposed architecture. The real-time characteristics and hardware partial implementation, coupled with low energy consumption address typical autonomous systems applications. A characterization of the implemented system in the Robocup scenario, during competition matches, is presented.engArtificial IntelligenceComputer Communication NetworksSoftware EngineeringUser Interfaces and Human Computer InteractionImage Processing and Computer VisionAutomation and Roboticsjournal article10.1007/978-3-540-68847-1_54