Real-time Multicamera Image Processing for Localization of autonomous Robots in dynamic Environments Guido Moritz * , Steffen Prüter, Dirk Timmermann * and Frank Golatowski + * Universität Rostock, 18051 Rostock, guido.moritz@uni-rostock.de and steffen.prueter@uni-rostock.de + CELISCA – Center for Life and Automation, 18199 Warnemünde, frank.golatowski@celisca.de 1. Introduction In order to develop a stable Robocup Small Size Vision System, there are different aspects the focus should be set on. One of the main problems is the ability for Real-time, because of the very fast game play in this League. The Latency should be hold as small as possible to save some milliseconds in contrast to the opponent. On the other hand industrial image processing software often set up some rules for itself making it simpler to analyze the pictures. There are special light conditions and other environment variables that have to fit. But what for possibilities exist to analyze up to 50 or more pictures per second in a Multicamerasystem with a dynamic changing environment? 2. Premise In the Robocup Small Size League most teams are using industrial Firewire CCD cameras. The cameras that can be achieved on the market can achieve 50 frames per second and more depending on the resolution and the color format. This work refers to the Marlin F-046C camera from Allied Vision Technologies. This camera has an output of 53 frames per second in the RAW mode. This RAW mode should be transformed in the RGB color format by using a library which can do the BAYER filtering very fast. As result of the decision for two 53 Hz cameras, to overpeer the whole field with an acceptable resolution, there is a deadline of round about 19 milliseconds. In these 19 milliseconds the objects in both cameras must be found and the strategy software, which should run on the same computer like the vision software must be able to finish calculating the new commands for the robots. The deadline can be qualified as hard deadline, with the reason that missing a deadline means losing frames and the possibility to get a goal.