Dias, AndréAlmeida, José MiguelMartins, AlfredoSilva, Eduardo2015-12-282015-12-282013978-3-642-38628-2http://hdl.handle.net/10400.22/7276The robotics community is concerned with the ability to infer and compare the results from researchers in areas such as vision perception and multi-robot cooperative behavior. To accomplish that task, this paper proposes a real-time indoor visual ground truth system capable of providing accuracy with at least more magnitude than the precision of the algorithm to be evaluated. A multi-camera architecture is proposed under the ROS (Robot Operating System) framework to estimate the 3D position of objects and the implementation and results were contextualized to the Robocup Middle Size League scenario.engVision perceptionROS (Robot Operating System)Multi-robot cooperative behaviorbook part10.1007/978-3-642-38628-2_36