用于机器人足球赛的全景视觉设计仿真

该文介绍用于机器人足球中型组比赛的全景视觉系统设计与仿真.该系统由一个普通摄像机和一个全向镜组成,能够拍摄到周围360度的全景图像.该文首先分析了比赛对视觉系统的各项要求,然后对几种常用的全向镜的成像效果进行仿真,得到了它们的全景图像.通过仿真结果比较,发现双曲线镜面具有单视点、变形小、分辨率高、体积小的特点,能够很好地满足比赛的要求.最后给出了摄像机和双曲线镜面的设计参数以及双曲线镜面的仿真图,完成了整个视觉系统的设计.

Single Viewpoint Catadioptric Vision for Soccer Robots

This paper introduces the design and simulation of a catadioptric vision system for the middle-size league of RoboCup-The World Cup of Soccer Robots.The system is composed of a camera and a mirror generated with a surface of revolution,which has a wide visual field of 360 degrees.In this paper,the common catadioptric mirrors are described,then their effects are compared through simulation.The proposed design results in a hyperboloidal mirror with the characters of a single viewpoint,small distortion,high resolution and a small size,which can meet the requirements of the middle-size league of RoboCup.Finally,design parameters of the whole vision system and the simulation image of hyperboloidal mirror are given.