Design and Modeling of Omni-directional Vision System Applied in Autonomous Soccer Robot
Yu Wang, Yong Wang, Xinhe Xu · 2006
The autonomous soccer robot with conventional vision cameras has limited fields of view which can be overcome by moving the robot, thus increasing the control difficulty. A omni-directional vision system uses a combination of lenses and mirrors placed in a carefully arranged configuration to capture a much wider field of view. This paper introduced study on omni-directional vision system applied in autonomous soccer robot and its imaging model. Mirror parameters of omni-directional vision sensor were designed using condition and equation of single viewpoint constraint, and dimension of the omni-directional vision system was determined. A set of models including reflect and refraction model were built. The relation between image point and corresponding world point was determined that can offer essential model and algorithm for omni-directional image process. Their practicability is tested through the simulation and real image experiments