Proceedings of 4th Global Engineering, Science and Technology Conference 27-28 December, 2013, BIAM Foundation, Dhaka, Bangladesh ISBN: 978-1-922069-43-6 1 Development of An Integrated Vision System To Control A Soccer Playing Humanoid Robot Alamgir Hossain 1 , Aziz Rahman 2 , Rahid Zaman 3 , Miftahur Rahman 3 , Raihan Masud 3 , Md. Mizanur Rahman Mizan 3 , Yasin Arafat 3 and Fardan Abdullah Intelligent vision algorithm is one of the most reliable and effective way to develop the control system of an autonomous robot as it can extracts maximum amount of real time data from the environment. Integration of vision data with other measurement unit, can make the control system more reliable, accurate and stable. Such kind of integrated control system has been implemented on MISTBOY, humanoid soccer playing robot consist of 19 DoF, 45 cm height and 3.5 kg weight. In this paper, initial steps towards the integrated vision based control system is presented with analyzed result through mathematical derivation and simulation. This paper is focused on the identification of goalpost, field marker, boundaries, players and various methods of ball tracking. Field of Research: Robotics, Mechanical Engineering Keywords: Vision system, Camera Geometry, Camera calibration, Image Processing, Color Pattern Matching, 1. Introduction Human vision is the best vision system on earth because of its great capability of matching the perceived image with the apperceived images in the brain. Human vision is extraordinary because of huge memory in brain. The accuracy depends on the combination of vision system with other human senses like hearing, touch, smell and taste. Machine vision (MV) is developed from the concept of human vision. It works on the basis of pattern and color matching like human. MV is nothing but digital image processing which involves extraction of information from an image. It is the young discipline of modern technology, widely used for industrial purposes, security purposes, medical diagnostics, weapon engineering and so on because of its significant level of accuracy and reliability. Now-a-days, in the field of robotics, _________________________________________________________________________ Alamgir Hossain 1, Associate Professor, Department of Mechanical Engineering, MIST Mirpur Cantonment, Mirpur, Dhaka-1216, Bangladesh. Email: 1 ahossain@me.mist.ac.bd, Aziz Rahman 2 , Assistant Professor, Department of Process Engineering, Memorial University of Newfoundland, St. Jhon’s, NF, Canada. Rahid Zaman 3 , Researcher, Department of Mechanical Engineering, MIST, Bangladesh. Miftahur Rahman 3 , Researcher, Department of Mechanical Engineering, MIST, Bangladesh. Raihan Masud 3 , Researcher, Department of Mechanical Engineering, MIST, Bangladesh. Md. Mizanur Rahman Mizan 3 , Researcher, Department of Mechanical Engineering, MIST, Bangladesh. Yasin Arafat 3 , Researcher, Department of Mechanical Engineering, MIST, Bangladesh. Fardan Abdullah 3 , Researcher, Department of Mechanical Engineering, MIST, Bangladesh.