Dutch aibo team: Technical report robocup 2006

In this report we describe the algorithms implemented by the Dutch Team in the Sony 4-Legged League. In particular, we describe the new modules on the Aibo side (self-localization, role switching policies, vision) as well as some useful tools we created for the developer side (storing binary snapshots, improved color table creation and performance measurements). Our approach in the variable lighting challenge is explained, which allows to compensate for a wide range of varying lighting conditions. The range of lighting conditions during the challenge was too small to test our algorithm to the extreme, we expect that with this algorithm we can play soccer both indoors and outdoors. This component is still under ongoing development and we hope that next year we can demonstrate fully autonomous self-configuration under arbitrary lighting conditions.