An omnidirectional vision sensor for fast tracking for mobile robots

Abstract

We present an, omnidirectional vision system me have implemented to provide our mobile robot (Polyphemus"the one with only one eye) with a fast tracking capability. Polyphemus has to recognize elements in a semi-structured environment (the soccer field of Robocup) at a rate close to 20 Hz. We have designed a multi-shaped mirror to optimize the resolution of the image and its vertical coverage. The interpretation system is based on focused, multi-level, and opportunistic procedures.