Localization for robot soccer based on omni-vision and front-vision

摘要

To meet the requirement for obtaining positional information of objects quickly and precisely,a vision system based on omni-vision and front-vision is designed.For the single vision sensor,the method of transforming image reference frame and extracting arc tangent and the method of separate proportion and pinhole imaging model of camera are adopted.For getting more precise localization result,the excellent mode of localization is chosen according to the area of blob.The experimental results show the rationality of the vision system and the effectiveness of the proposed localization method.