A Self-Localition Method With Monocular Vision For Autonomous Soccer Robot
2005 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY - (ICIT), VOLS 1 AND 2(2005)
摘要
In autonomous robot soccer system, every autonomous soccer robot is an unattached intellective robot. The robot has its decision subsystem, communication subsystem, vision and multi-sensor subsystem, machine-electric control subsystem etc. But any overall vision is forbidden. To get the overall information of the field, the self-localization of autonomous soccer robot is one of sticking points and must be solved. In this paper, a geometrical self-localization method of autonomous soccer robot is introduced. There is a precondition that is some color landmarks in the field have been recognized by cyber-vision. A method of depth measurement by monocular vision is used in the geometrical self-localization method. And three possible factor bring ranging error are analyzed. They are quantization error of CCD image element, no-linearity aberration of its camcorder, and vidicon calibration etc. It's shown that the geometrical self-localization method is effective, efficient robust.
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关键词
Autonomous Soccer Robot, monocular vision, depth measurement, geometrical self-localization
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