Visualperceptionisthemostimportantmethod\r\nfor providing information about the competition\r\nenvironment for RoboCup Middle Size League (MSL)\r\nsoccer robots. The paper reviews the advancement of\r\nvisual perception in RoboCup MSL soccer robots from\r\nseveral points of view including the design and\r\ncalibration of the vision system, the visual object\r\nrecognition, the estimation of the object�s motion, robot\r\nvisual selflocalization and multirobot cooperative\r\nsensing. The research progress wehave achieved is also\r\nintroducedinthisreview.Thedevelopingtrendsandthe\r\nfuture research focuses on this problem are also\r\ndiscussed.
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