Bit-Bots Vision

Package Summary

Version	2.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-25
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RF-DETR-based vision for the Hamburg Bit-Bots. Detects balls, goal posts, obstacles, and robots and segments field lines using a single ONNX model with separate detection and segmentation heads. Runs inference via ONNX Runtime with TensorRT, CUDA, WebGPU, or CPU execution providers.

Maintainers

Florian Vahl
Hamburg Bit-Bots

Authors

Florian Vahl
Jan Gutsche
Hamburg Bit-Bots

Bit-Bots Vision

This is the vision ROS package of the Hamburg Bit-Bots.

The vision is able to detect balls, goal posts, obstacles, and robots, and detects field lines, using a single RF-DETR ONNX model with separate detection and segmentation heads.

For further information and getting started, see the documentation of this package at our website: docs.bit-bots.de

An earlier version of this pipeline is presented in our paper An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer. When you use this pipeline or parts of it, please cite it.

@inproceedings{vision2019,
author={Fiedler, Niklas and Brandt, Hendrik and Gutsche, Jan and Vahl, Florian and Hagge, Jonas and Bestmann, Marc},
year={2019},
title={An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer},
booktitle={RoboCup 2019: Robot World Cup XXIII},
note = {Accepted},
organization={Springer}
}

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	backward_ros
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	cv_bridge
	generate_parameter_library
	rclcpp
	sensor_msgs
	soccer_vision_2d_msgs
	soccer_vision_attribute_msgs
	std_msgs
	vision_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
bitbots_bringup

Launch files

launch/vision.launch
- - sim [default: false]
  - debug [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bitbots_vision` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

bitbots_vision package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

Package Summary

Version	2.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-25
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RF-DETR-based vision for the Hamburg Bit-Bots. Detects balls, goal posts, obstacles, and robots and segments field lines using a single ONNX model with separate detection and segmentation heads. Runs inference via ONNX Runtime with TensorRT, CUDA, WebGPU, or CPU execution providers.

Maintainers

Florian Vahl
Hamburg Bit-Bots

Authors

Florian Vahl
Jan Gutsche
Hamburg Bit-Bots

Bit-Bots Vision

This is the vision ROS package of the Hamburg Bit-Bots.

The vision is able to detect balls, goal posts, obstacles, and robots, and detects field lines, using a single RF-DETR ONNX model with separate detection and segmentation heads.

For further information and getting started, see the documentation of this package at our website: docs.bit-bots.de

An earlier version of this pipeline is presented in our paper An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer. When you use this pipeline or parts of it, please cite it.

@inproceedings{vision2019,
author={Fiedler, Niklas and Brandt, Hendrik and Gutsche, Jan and Vahl, Florian and Hagge, Jonas and Bestmann, Marc},
year={2019},
title={An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer},
booktitle={RoboCup 2019: Robot World Cup XXIII},
note = {Accepted},
organization={Springer}
}

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	backward_ros
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	cv_bridge
	generate_parameter_library
	rclcpp
	sensor_msgs
	soccer_vision_2d_msgs
	soccer_vision_attribute_msgs
	std_msgs
	vision_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
bitbots_bringup

Launch files

launch/vision.launch
- - sim [default: false]
  - debug [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bitbots_vision` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

bitbots_vision package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

Package Summary

Version	2.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-25
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RF-DETR-based vision for the Hamburg Bit-Bots. Detects balls, goal posts, obstacles, and robots and segments field lines using a single ONNX model with separate detection and segmentation heads. Runs inference via ONNX Runtime with TensorRT, CUDA, WebGPU, or CPU execution providers.

Maintainers

Florian Vahl
Hamburg Bit-Bots

Authors

Florian Vahl
Jan Gutsche
Hamburg Bit-Bots

Bit-Bots Vision

This is the vision ROS package of the Hamburg Bit-Bots.

The vision is able to detect balls, goal posts, obstacles, and robots, and detects field lines, using a single RF-DETR ONNX model with separate detection and segmentation heads.

For further information and getting started, see the documentation of this package at our website: docs.bit-bots.de

An earlier version of this pipeline is presented in our paper An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer. When you use this pipeline or parts of it, please cite it.

@inproceedings{vision2019,
author={Fiedler, Niklas and Brandt, Hendrik and Gutsche, Jan and Vahl, Florian and Hagge, Jonas and Bestmann, Marc},
year={2019},
title={An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer},
booktitle={RoboCup 2019: Robot World Cup XXIII},
note = {Accepted},
organization={Springer}
}

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	backward_ros
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	cv_bridge
	generate_parameter_library
	rclcpp
	sensor_msgs
	soccer_vision_2d_msgs
	soccer_vision_attribute_msgs
	std_msgs
	vision_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
bitbots_bringup

Launch files

launch/vision.launch
- - sim [default: false]
  - debug [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bitbots_vision` at Robotics Stack Exchange

No version for distro lyrical showing github. Known supported distros are highlighted in the buttons above.

bitbots_vision package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

Package Summary

Version	2.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-25
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RF-DETR-based vision for the Hamburg Bit-Bots. Detects balls, goal posts, obstacles, and robots and segments field lines using a single ONNX model with separate detection and segmentation heads. Runs inference via ONNX Runtime with TensorRT, CUDA, WebGPU, or CPU execution providers.

Maintainers

Florian Vahl
Hamburg Bit-Bots

Authors

Florian Vahl
Jan Gutsche
Hamburg Bit-Bots

Bit-Bots Vision

This is the vision ROS package of the Hamburg Bit-Bots.

The vision is able to detect balls, goal posts, obstacles, and robots, and detects field lines, using a single RF-DETR ONNX model with separate detection and segmentation heads.

For further information and getting started, see the documentation of this package at our website: docs.bit-bots.de

An earlier version of this pipeline is presented in our paper An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer. When you use this pipeline or parts of it, please cite it.

@inproceedings{vision2019,
author={Fiedler, Niklas and Brandt, Hendrik and Gutsche, Jan and Vahl, Florian and Hagge, Jonas and Bestmann, Marc},
year={2019},
title={An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer},
booktitle={RoboCup 2019: Robot World Cup XXIII},
note = {Accepted},
organization={Springer}
}

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	backward_ros
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	cv_bridge
	generate_parameter_library
	rclcpp
	sensor_msgs
	soccer_vision_2d_msgs
	soccer_vision_attribute_msgs
	std_msgs
	vision_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
bitbots_bringup

Launch files

launch/vision.launch
- - sim [default: false]
  - debug [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bitbots_vision` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

bitbots_vision package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

Package Summary

Version	2.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-25
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RF-DETR-based vision for the Hamburg Bit-Bots. Detects balls, goal posts, obstacles, and robots and segments field lines using a single ONNX model with separate detection and segmentation heads. Runs inference via ONNX Runtime with TensorRT, CUDA, WebGPU, or CPU execution providers.

Maintainers

Florian Vahl
Hamburg Bit-Bots

Authors

Florian Vahl
Jan Gutsche
Hamburg Bit-Bots

Bit-Bots Vision

This is the vision ROS package of the Hamburg Bit-Bots.

The vision is able to detect balls, goal posts, obstacles, and robots, and detects field lines, using a single RF-DETR ONNX model with separate detection and segmentation heads.

For further information and getting started, see the documentation of this package at our website: docs.bit-bots.de

An earlier version of this pipeline is presented in our paper An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer. When you use this pipeline or parts of it, please cite it.

@inproceedings{vision2019,
author={Fiedler, Niklas and Brandt, Hendrik and Gutsche, Jan and Vahl, Florian and Hagge, Jonas and Bestmann, Marc},
year={2019},
title={An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer},
booktitle={RoboCup 2019: Robot World Cup XXIII},
note = {Accepted},
organization={Springer}
}

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	backward_ros
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	cv_bridge
	generate_parameter_library
	rclcpp
	sensor_msgs
	soccer_vision_2d_msgs
	soccer_vision_attribute_msgs
	std_msgs
	vision_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
bitbots_bringup

Launch files

launch/vision.launch
- - sim [default: false]
  - debug [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bitbots_vision` at Robotics Stack Exchange

bitbots_vision package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

Package Summary

Version	2.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-25
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RF-DETR-based vision for the Hamburg Bit-Bots. Detects balls, goal posts, obstacles, and robots and segments field lines using a single ONNX model with separate detection and segmentation heads. Runs inference via ONNX Runtime with TensorRT, CUDA, WebGPU, or CPU execution providers.

Maintainers

Florian Vahl
Hamburg Bit-Bots

Authors

Florian Vahl
Jan Gutsche
Hamburg Bit-Bots

Bit-Bots Vision

This is the vision ROS package of the Hamburg Bit-Bots.

The vision is able to detect balls, goal posts, obstacles, and robots, and detects field lines, using a single RF-DETR ONNX model with separate detection and segmentation heads.

For further information and getting started, see the documentation of this package at our website: docs.bit-bots.de

An earlier version of this pipeline is presented in our paper An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer. When you use this pipeline or parts of it, please cite it.

@inproceedings{vision2019,
author={Fiedler, Niklas and Brandt, Hendrik and Gutsche, Jan and Vahl, Florian and Hagge, Jonas and Bestmann, Marc},
year={2019},
title={An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer},
booktitle={RoboCup 2019: Robot World Cup XXIII},
note = {Accepted},
organization={Springer}
}

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	backward_ros
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	cv_bridge
	generate_parameter_library
	rclcpp
	sensor_msgs
	soccer_vision_2d_msgs
	soccer_vision_attribute_msgs
	std_msgs
	vision_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
bitbots_bringup

Launch files

launch/vision.launch
- - sim [default: false]
  - debug [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bitbots_vision` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

bitbots_vision package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

Package Summary

Version	2.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-25
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RF-DETR-based vision for the Hamburg Bit-Bots. Detects balls, goal posts, obstacles, and robots and segments field lines using a single ONNX model with separate detection and segmentation heads. Runs inference via ONNX Runtime with TensorRT, CUDA, WebGPU, or CPU execution providers.

Maintainers

Florian Vahl
Hamburg Bit-Bots

Authors

Florian Vahl
Jan Gutsche
Hamburg Bit-Bots

Bit-Bots Vision

This is the vision ROS package of the Hamburg Bit-Bots.

The vision is able to detect balls, goal posts, obstacles, and robots, and detects field lines, using a single RF-DETR ONNX model with separate detection and segmentation heads.

For further information and getting started, see the documentation of this package at our website: docs.bit-bots.de

An earlier version of this pipeline is presented in our paper An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer. When you use this pipeline or parts of it, please cite it.

@inproceedings{vision2019,
author={Fiedler, Niklas and Brandt, Hendrik and Gutsche, Jan and Vahl, Florian and Hagge, Jonas and Bestmann, Marc},
year={2019},
title={An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer},
booktitle={RoboCup 2019: Robot World Cup XXIII},
note = {Accepted},
organization={Springer}
}

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	backward_ros
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	cv_bridge
	generate_parameter_library
	rclcpp
	sensor_msgs
	soccer_vision_2d_msgs
	soccer_vision_attribute_msgs
	std_msgs
	vision_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
bitbots_bringup

Launch files

launch/vision.launch
- - sim [default: false]
  - debug [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bitbots_vision` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

bitbots_vision package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

Package Summary

Version	2.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-25
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RF-DETR-based vision for the Hamburg Bit-Bots. Detects balls, goal posts, obstacles, and robots and segments field lines using a single ONNX model with separate detection and segmentation heads. Runs inference via ONNX Runtime with TensorRT, CUDA, WebGPU, or CPU execution providers.

Maintainers

Florian Vahl
Hamburg Bit-Bots

Authors

Florian Vahl
Jan Gutsche
Hamburg Bit-Bots

Bit-Bots Vision

This is the vision ROS package of the Hamburg Bit-Bots.

The vision is able to detect balls, goal posts, obstacles, and robots, and detects field lines, using a single RF-DETR ONNX model with separate detection and segmentation heads.

For further information and getting started, see the documentation of this package at our website: docs.bit-bots.de

An earlier version of this pipeline is presented in our paper An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer. When you use this pipeline or parts of it, please cite it.

@inproceedings{vision2019,
author={Fiedler, Niklas and Brandt, Hendrik and Gutsche, Jan and Vahl, Florian and Hagge, Jonas and Bestmann, Marc},
year={2019},
title={An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer},
booktitle={RoboCup 2019: Robot World Cup XXIII},
note = {Accepted},
organization={Springer}
}

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	backward_ros
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	cv_bridge
	generate_parameter_library
	rclcpp
	sensor_msgs
	soccer_vision_2d_msgs
	soccer_vision_attribute_msgs
	std_msgs
	vision_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
bitbots_bringup

Launch files

launch/vision.launch
- - sim [default: false]
  - debug [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bitbots_vision` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

bitbots_vision package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	2.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-25
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RF-DETR-based vision for the Hamburg Bit-Bots. Detects balls, goal posts, obstacles, and robots and segments field lines using a single ONNX model with separate detection and segmentation heads. Runs inference via ONNX Runtime with TensorRT, CUDA, WebGPU, or CPU execution providers.

Maintainers

Florian Vahl
Hamburg Bit-Bots

Authors

Florian Vahl
Jan Gutsche
Hamburg Bit-Bots

Bit-Bots Vision

This is the vision ROS package of the Hamburg Bit-Bots.

The vision is able to detect balls, goal posts, obstacles, and robots, and detects field lines, using a single RF-DETR ONNX model with separate detection and segmentation heads.

For further information and getting started, see the documentation of this package at our website: docs.bit-bots.de

An earlier version of this pipeline is presented in our paper An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer. When you use this pipeline or parts of it, please cite it.

@inproceedings{vision2019,
author={Fiedler, Niklas and Brandt, Hendrik and Gutsche, Jan and Vahl, Florian and Hagge, Jonas and Bestmann, Marc},
year={2019},
title={An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer},
booktitle={RoboCup 2019: Robot World Cup XXIII},
note = {Accepted},
organization={Springer}
}

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	backward_ros
	ament_cmake
	ament_cmake_gtest
	ament_lint_auto
	ament_lint_common
	cv_bridge
	generate_parameter_library
	rclcpp
	sensor_msgs
	soccer_vision_2d_msgs
	soccer_vision_attribute_msgs
	std_msgs
	vision_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
bitbots_bringup

Launch files

launch/vision.launch
- - sim [default: false]
  - debug [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bitbots_vision` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

bitbots_vision package from bitbots_main repo

bitbots_blackboard bitbots_body_behavior bitbots_bringup bitbots_diagnostic bitbots_docs bitbots_education bitbots_extrinsic_calibration bitbots_ipm bitbots_parameter_blackboard bitbots_player_state bitbots_robot_description bitbots_teleop bitbots_tts bitbots_utils bitbots_whistle_detector system_monitor bitbots_animation_rqt bitbots_animation_server bitbots_emergency bitbots_hcm bitbots_head_mover bitbots_rl_motion bitbots_splines bitbots_msgs bitbots_localization bitbots_localization_handler bitbots_odometry bitbots_path_planning piplus_animations piplus_description bitbots_mujoco_sim bitbots_team_communication bitbots_team_data_sim_rqt bitbots_vision bitbots_ball_filter bitbots_robot_filter audio_common audio_common_msgs biped_interfaces bitbots_tf_buffer domain_bridge dynamic_stack_decider dynamic_stack_decider_visualization game_controller_hsl game_controller_hsl_interfaces humanoid_base_footprint imu_complementary_filter rviz_imu_plugin ipm_image_node ipm_interfaces ipm_library ipm_service launch launch_pytest launch_testing launch_testing_ament_cmake launch_xml launch_yaml test_launch_testing livelybot_bringup livelybot_msg livelybot_oled livelybot_power livelybot_serial serial yesense_imu particle_filter ros2_numpy ros2_python_extension rot_conv soccer_field_map_generator soccer_geometry_msgs soccer_interfaces soccer_model_msgs soccer_vision_2d_msgs soccer_vision_3d_msgs soccer_vision_attribute_msgs soccer_ipm soccer_vision_3d_rviz_markers udp_bridge zed_msgs zed_components zed_ros2 zed_wrapper

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version	2.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/bit-bots/bitbots_main.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-25
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RF-DETR-based vision for the Hamburg Bit-Bots. Detects balls, goal posts, obstacles, and robots and segments field lines using a single ONNX model with separate detection and segmentation heads. Runs inference via ONNX Runtime with TensorRT, CUDA, WebGPU, or CPU execution providers.

Maintainers

Florian Vahl
Hamburg Bit-Bots

Authors

Florian Vahl
Jan Gutsche
Hamburg Bit-Bots