Abstract: Tomeet the high controlaccuracy of the vision subsystem ofaMiroSot(Micro-RobotWorld SoccerTournament) large league system, a computer vision subsystem and a robot/ball identification algorithm were described. The vision subsystem was developed forMiroSotLarge League 11 vs. 11 for FIRA (Federation of International Robot-Soccer Association) RobotWorld Cup 2004. The vision subsystem structure, color jacketdesign for11 robots, algorithm for identifying home robots, and post- processing filterswere presented. A novel recognition algorithm of robot ID colors using theminimum hueMAD (mean absolute difference) was addressed especially. The subsystem has been tested, and the result shows a satisfactory performance in competitions.