This paper describes the design of a multi-part mirror catadioptric vision system and its use for self-localization and detection of relevant objects in soccer robots. The mirror and associated algorithms have been used in robots participating in the middle-size league of RoboCup - The World Cup of Soccer Robots. (C) 2001 Published by Elsevier Science B.V.
The potential of omni-directional catadioptric systems for comprehensive solutions for mobile robots moving within structured environments, ranging from the extraction of relevant image features to self-localization is discussed. The design of a multi-part mirror was introduced which can be used, by controlling the distribution of image resolution onto the scene, to tackle all the requirements with the same device. Further step towards a more refined usage of the information provided by omni-directional vision systems are described.
Lima, P., Bonarini, A., Machado, C., Marchese, F., Marques, C., Ribeiro, F., et al. (2001). Omni-directional catadioptric vision for soccer robots. ROBOTICS AND AUTONOMOUS SYSTEMS, 36(2), 87-102 [10.1016/S0921-8890(01)00139-7].
Omni-directional catadioptric vision for soccer robots
MARCHESE, FABIO MARIO GUIDO;SORRENTI, DOMENICO GIORGIO
2001
Abstract
The potential of omni-directional catadioptric systems for comprehensive solutions for mobile robots moving within structured environments, ranging from the extraction of relevant image features to self-localization is discussed. The design of a multi-part mirror was introduced which can be used, by controlling the distribution of image resolution onto the scene, to tackle all the requirements with the same device. Further step towards a more refined usage of the information provided by omni-directional vision systems are described.
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