Omni-directional catadioptric vision for soccer robots

Omni-directional catadioptric vision for soccer robots

Comprehensive Omni-Directional Soccer Player Robots

RoboCup competitions were first proposed by Mackworth in 1993. The main goal of this scientific competition is to exploit, improve and integrate the methods and techniques from robotics, machine vision and artificial intelligence (AI) disciplines to create an autonomous team of soccer playing robots. At the time of preparing this chapter, RoboCup is organized in several different leagues includ...

High resolution catadioptric omni-directional stereo sensor for robot vision

− Autonomous robots need to acquire both omnidirectional view and stereo in real-time without sacrificing too much image resolution. The recent catadioptric omnidirectional vision sensors provide simple affordable realtime omni-directional images but only at the cost of rather low image resolutions. This work describes a novel omnidirectional stereo image sensor providing the highest resolution...

Arbitrary Ball Recognition Based on Omni-Directional Vision for Soccer Robots

Recognizing the arbitrary standard FIFA ball is a significant ability for soccer robots to play competition without the constraint of current color-coded environment. This paper describes a novel method to recognize arbitrary FIFA ball based on omni-directional vision system. Firstly the omni-directional vision system and its calibration for distance map are introduced, and the conclusion that ...

Catadioptric Omni-directional Stereo Vision and Its Applications in Moving Objects Detection

Catadioptric Omni-Directional Stereo Vision (ODSV) technology is the combination of omni-directional imaging and stereo vision, which has wide application potentials on robot vision and large-scale video surveillance [1-4]. Fig.1 gives the framework of ODSV technology, which includes four major parts: the design of omni-directional stereo vision imaging system, unwarping of omni-directional ste...