基于嵌入式的机器人视觉伺服寻迹系统研究-An Omnidirectional Vision Sensor.pdf

IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 49, NO. 3, JUNE 2000 509 An Omnidirectional Vision Sensor for Fast Tracking for Mobile Robots Andrea Bonarini, Paolo Aliverti, and Michele Lucioni Abstract—We present an omnidirectional vision system we purple marker 10 cm high, visible from any direction and po- have implemented to provide our mobile robot Rullit with a sitioned between 30 and 60 cm above the ground. It was clear fast tracking capability. Rullit has to recognize elements in a at the last Robocup World Championships (Paris’98 [3], Stock- semi-structured environment (the soccer field of Robocup) at a rate close to 20 Hz. We have designed a multi-shaped mirror holm’99 [4]) that a fast vision system and fast movement ability to optimize the resolution of the image and its coverage. The are fundamental to obtain satisfactory performance. One of the interpretation system is based on focused, multi-level, and oppor- most important activities a soccer robot should do is looking for tunistic procedures. the ball and tracking it, but also looking for goals and other en- Index Terms—Autonomous agents, image processing, mobile vironmental elements for self-localization, and perceive other robots, omnidirectional vision. robots to interact with them. The ball and the robots can move at more than 1 m/s. Most of the robots had a single, fixed camera on board, I. INTRODUCT