Abstract
This paper presents an omni-directional sensor based on a camera and a mirror generated with a surface of revolution. The requirements the device must fulfill result from its use as the main perception system for the autonomous mobile robots used in F2000 RoboCup competitions. The more relevant requirements which have been pursued are: 1) range sensing in a quite wide region centered around the robot, with good accuracy; 2) sensing around the robot in a given vertical sector, in order to recognize team-mates and adversaries (all robots have a colored marker above a given height); 3) range sensing in a region very close around the robot, with the highest accuracy, to locate and kick the ball. Such requirements have been fulfilled by the design of a mirror built up of three different parts. Each part is devoted to the fulfillment of one requirement. Concerning the first requirement the approach developed is based on the design of a mirror’s profile capable to optically compensate the image distortion provided by the mirror profiles commonly used in previous literature. This approach resulted to be similar to a previous work by Hicks and Bajcsy, although independently developed by the authors.
Acknowledgements
This work exists thanks to the contribution of Prof. Andrea Bonarini, Dipartimento di Elettronica e Informazione, Politecnico di Milano. His contribution has been fundamental for our effective introduction to the field of RoboCup competitions. Without his experience, the setting up of the requirements would have not been possible. Moreover, we are grateful for the very fruitful conversations, which took place during the development of the work. We are also pleased to thank Parravicini SrL for the machining of the latest prototype of mirror and Boitor SaS for its polishing.
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© 2001 Springer-Verlag Berlin Heidelberg
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Marchese, F.M., Sorrenti, D.G. (2001). Omni-directional vision with a multi-part mirror. In: Stone, P., Balch, T., Kraetzschmar, G. (eds) RoboCup 2000: Robot Soccer World Cup IV. RoboCup 2000. Lecture Notes in Computer Science(), vol 2019. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45324-5_16
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DOI: https://doi.org/10.1007/3-540-45324-5_16
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