自主足球机器人全维视觉系统的设计与建模

对全维视觉系统（OPVS）及其成像模型进行了研究。利用单视点约束条件和方程设计了自主足球机器人全维视觉传感器的镜面参数，确定全维视觉传感器的尺寸，建立了包括反光镜的反射模型和摄像头的针孔成像模型在内的一整套完备的数学模型，确定像点和物点间的对应关系，为全维成像提供了必要的数学模型和算法。用仿真实验和真实图像实验验证了系统的实用性。

Design and Modeling of Omni-Directional Vision System of the Automomous Soccer Robot

This paper studies an omni-directional vision system and its imaging model. The omni-directional vision sensor uses a combination of lenses and mirrors placed in a carefully arranged configuration to capture a much wider field of view for the autonomous soccer robot. Mirror parameters of omni-directional vision sensor were designed under the single viewpoint constraint,and dimension of the omni-directional vision system was determined. A set of models including reflect and refraction model were built. The relation between image point and corresponding world point was determined,which offers the essential model and algorithm for omni-directional image process. Their practicability is tested through the simulation experiments.