. 5dpo is a team created in 1998 in the Faculty of Engineering of the University of Porto in Portugal. The team regularly participates in RoboCup middle-size and small size leagues, achieving, in this last league very good results since its first participation. In RoboCup 2006, held in Bremen, Germany, the team was vice-champion on this league. The team research focus is on computer vision, robot control and data fusion. Thus, the research developed in the context of the small-size league by our team can be easily extended to new challenges and applied in a large extent to the new Mixed Reality league.