A Rapid Geometry Localization Method for Omnidirectional Vision Soccer Robot

To the characters of the image captured by omni directional vision system and the specific characters of the match field of RoboCup medium size group, a rapid geometry localization method was introduced to calculate the coordination of the robot itself and the target in the view-field using a simple geometry method. The localization includes robot self localization and object-localization. It get a satisfied real-time performance with less computation and thus easy to be implemented. A series of experiments verified it´s effectiveness.