The vision requirements for robotic soccer have been examined by different researchers [12, 13]. Systems with on-board and off-board types have appeared in recent years. All have found that the reactiveness of soccer robots requires a vision system with a high processing cycle time. However, due to the rich visual input, researchers have found that dedicated processors or even DSPs are often needed [2, 12]. We currently use a frame-grabber with frame-rate transfer from a 3CCD camera. A 166MHz Pentium processor is dedicated to the vision processing.