使用全方位视觉技术之足球机器人定位方法-资讯传播工程学系-铭传.PDF

使用全方位視覺技術之足球機器人定位方法 A Localization Method for Soccer Robot Using the Omni-directional Vision System 黃于洲 吳佶融 朱維慶 莊勝傑 賈叢林 Yu-Chou Ji-Rong Wu Wei-Ching Sheng-Jie Tsorng-Lin Huang Chu Jhuang Chia 銘傳大學資訊傳播工程學系 Department of Computer and Communication Engineering, Ming Chuan University 摘要 本論文提出一個使用全方位攝影機，為足球機器人進行自我定位的方法。 透過完整的全方 位攝影機投影幾何，可 以完全修正全方位影像的扭曲現象，使得機器人能快速的定位自己。整個 方法包括：利用投影幾何推導出影像反扭曲的完全解，直接產生無扭曲之球場環境正交影像，讓 後續之球場辨識與機器人定位更為方便與準確 ；使用幾何不變量快速決定 球場正交影像與球場模 型的對應關係 ；藉由 Homography理論決定精確的機器人位置與方位。經由模擬與真實狀況的實 驗結果，顯示本方法能快速及精確的決定足球機器人的位置與方位角，同時也能直接計算球場上 不同物件間的距離。 關鍵字：全方位視覺 系統、足球機器人、自我 定位方法、Homography Abstract In his paper, we propose a self-localization method for the soccer robot by using an omnidirectional camera. Based on the projection geometry of the omnidirectional visual system, we can completely correct the image distortion from the original omnidirectional image. Therefore, the robot can be quickly located in the playing field. First, we obtain a fully mapping from the distorted omnidirectional image to the soccer field for generating a distortion-free orthogonal image to represent the playing environment. By geometric invariants, the correspondence between the orthogonal image and the model of the playing field is constructed. Next, the homographic matrix is made for determining the precise location and orientation of the robot. By the simulate and real experiments, results show the proposed method that can quickly and accurately determine the position and azimuth of the s