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
Cartesium 0.53 Enrique-Schmidt-Str. 5 28359 Bremen
Telephone: +49 (421) 218-64209
The team B-Human announces the availability of our 2022 code release at
This is the first complete B-Human code release! The software released is a cleaned-up version of the system we used in the 2022 competitions. This is the whole system, i.e the soccer code and the code used in the technical challenges, together with a detailed documentation.
You can now run the code of the 2022 world champion at home!
If you just want to do practice matches against our code, you can also download a ready-to-run image from
Our software is released with its own 3-D simulator. Microsoft Windows 64 bit, Linux 64 bit, and macOS are fully supported.
Please note that since this is now a complete code release, we changed our license again to foster more open source development in our league. We strongly believe in sharing our developments and look forward to the code releases of others.
Have fun :-)