A Localization Method for Robocup Robot Base on Omni-Vision System
Han Yun-sheng · Jiangnan daxue xuebao. Ziran kexue ban · 2009
The paper presents a location method based on omni-vision system for mobile robot system,studies omni-vision system imaging principle,brings up a method using multi-threshold based on color space and making use of a triangle to location.By distinguishing the characteristic road signs,abstracting the road signs that the coordinate is already knew,the geometry principle can then be used to calculate the robotic space coordinate,which is the base of the robot guides and of avoiding the obstacles.The calculation having decreased by color image division avoids error brought by omni-vision image cylindrical surface development.The experimental results verified the real-time and reliability of the method.