The team B-Human announces the availability of our 2021 code release at
It is the most advanced B-Human code ever! Many thousands of lines of open source code together with a detailed documentation. The software released is a cleaned-up version of the system we used in the 2021 competitions. In contrast to previous years, the documentation is from now on split into two parts: A PDF that briefly describes the approaches that have been implemented since 2019 is located in the GitHub repository. All technical details, such as the installation guide and descriptions of our software architecture and tools, are now in a separate wiki that you can find at https://wiki.b-human.de/coderelease2021/.
The improvements that have been made in the previous two years include (but are not limited to):
- A fully lighting independent vision system, including
- a CNN-based field border detection
- A procedure for autonomous camera calibration
- A new motion infrastructure
- Higher walking stability, based on
- improved support foot switching,
- in-walk kicks that are capable to adjust to the ball position, and
- the detection of walking on another robot’s foot and acting accordingly.
Our software is released with its own 3-D simulator. Microsoft Windows 64 bit, Linux 64 bit, and macOS (on Apple Silicon as well as on Intel processors) are fully supported.
Please note that the new code is released within the same repository that we used for our previous releases. The old releases are marked with tags in that repository. Furthermore, please also note that our license has changed for the first time in a long while.
We strongly believe in sharing our developments and look forward to the code releases of others.
Have fun :-)
Dr. Tim Laue
Multi-Sensor Interactive Systems Group
Faculty 3 - Mathematics and Computer Science
University of Bremen
Telephone: +49 (421) 218-64209
B-Human's contribution to the Video Analysis Challenge is now available at:
We also prepared a simple list that provides links to videos, TCM logs (both hosted on Berlin United’s server), and GameController logs (hosted on our server). It currently only lists games from RoboCup 2018 and 2019, but we plan to add the 2022 games as well as soon as their directory structure on Berlin United’s server is finalized. The list can be found at:
Many thanks to the team Berlin United for recording and hosting the videos and for providing the code for camera calibration that we built on. Also many thanks to Arne Moos for organizing the challenge and all the teams who labeled the images!