The integral component in the JayBots RoboCup strategy lies in the visual tracking system, installed on each of the robots. Each robot will carry a number of individual trackers, each tracking a different colored object. Obstacle avoidance will be employed using the tracking system-the robots will avoid all objects excluding the ball and the opponent's goal.
Tracking takes place in two stages. During initialization, an image captured by the robot-mounted camera is processed, ideally at 30 frames per second. If the desired color region does not appear on the image, the camera's focal point is changed and another image is processed. When the tracker does capture a desired color region, the area immediately surrounding the desired color region is extracted. The camera now focuses on the smaller image area and captures the color region as it moves. By reducing the area containing the tracked image, speed at which images are processed increases. Thus, localization of the robots and location of the ball and opponent's goal occurs more quickly.