Rapid self-localization of robot based on omnidirectional vision technology

摘要

In this paper, we propose a self-localization method for a soccer robot using an omnidirectional camera. Based on the projective geometry of the omnidirectional visual system, the image distortion from the original omnidirectional image can be completely corrected, so the robot can quickly localize itself on the playing field. First, we transform the distorted omnidirectional image to a distortion-free unwrapped image of the soccer field by projective geometry. The obtained image makes the sequent field recognizable and the self-localization of the robot more convenient and accurate. Then, by geometric invariants, the correspondence between the unwrapped image and the model of the playing field is constructed. Next, the homography theory is applied to get the precise location and orientation of the robot. The simulation and experimental results show that the proposed method can quickly and accurately determine the position and azimuth of the soccer robot and the distance between two objects on the playing field.