Omni-directional catadioptric vision for soccer robots

Abstract

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.

Calibration of Non-SVP Hyperbolic Catadioptric Robotic Vision Systems

“…ellipsoidal convex mirror). This is the case, just to name a few, of those teams described in (Zivkovic & Booij, 2006), (Wolf, 2003), (Menegatti et al, 2001(Menegatti et al, , 2004 and (Lima et al, 2001). This type of setup ensures an integrated perception of all major target objects in the robots surrounding area, allowing a higher degree of maneuverability at the cost of higher resolution degradation with growing distances away from the robot (Baker & Nayar, 1999) when compared to non-isotropic setups.…”

“…For most practical applications, as is the case of the RoboCup competition, this setup requires the translation of the planar field of view, at the camera sensor plane, into real world coordinates at the ground plane, using the robot as the center of this system. In order to simplify this non-linear transformation, most practical solutions adopted in real robots choose to create a mechanical geometric setup that ensures a symmetrical solution for the problem by means of single viewpoint (SVP) approach (Zivkovic & Booij, 2006), (Wolf, 2003) and (Lima et al, 2001). This, on the other hand, calls for a precise alignment of the four major points comprising the vision setup: the mirror focus, the mirror apex, the lens focus and the center of the image sensor.…”

An Industrial Autonomous Guided Robot

“…al. 1999), (Lima 2001), is original in the sense that all the sensors and control equipment comes from off the shelf industrial components. Hence the control is made by a PLC, the motors are controlled by industrial servodrives and even the image processing part is made with an industrial image acquisition system.…”

3D Tracking by Catadioptric Vision Based on Particle Filters

“…playing football) robots need to extract sufficient information from the environment they operate in. Catadioptric sensors are widely used in robotics, especially for self localization and navigation [8], [1], as they gather information from a large portion of the space surrounding a robot. One drawback is that images are affected by strong distortion and perspective effects, which may force the use of non-standard algorithms for target detection and tracking.…”