Robocup Medium-sized Group Of Robots Panoramic Vision System Design And Realization

This thesis introduces the design and implement 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 The system can perform the functions of collecting images, object recognition and locating the robots. The system is designed to observe the whole floor from any point on the floor. Self-Localization algorithms are proposed using the features of goals, corner posts and so on to find the right positions of the ball and robots. The whole system is robust, accurate and fast, which can (?)fill the requisites of the middle-size league of RoboCup.In this thesis, the main work is as follows: the catadioptric vision system is designed and implemented including camera choosing and mirror shape design. Through simulation, the proposed design resuhs in a hyperboloidal mirror with the characters of a single viewpoint, small distortion,high resolution and a small size, which can fulfill the requisites of the middle-size league of R(?)oCup. Tae thesis presents a method for calibration of a color classificatory used for color blob-(?)ased image segmentation and object recognition. Because the HSV color model is n(?) sensitive to the change of light conditions, the features of robots , ball, goal and white lines are detecte(?) on the base of HSV color model, which are important features for robot self-localization. Finally. the different localization methods are given, such as localization using features, lo(?)lization asing white lines, monto-carlo localization. Compared with each other, the localization methods effects and qualities can be concluded and localization method using features is (?)ose as the primary method.