A self-localization method with monocular vision for autonomous soccer robot

In autonomous robot soccer system, every autonomous soccer robot is an unattached intellective robot. The robot has its decision subsystem, communication subsystem, vision and multi-sensor subsystem, machine-electric control subsystem etc. But any overall vision is forbidden. To get the overall information of the field, the self-localization of autonomous soccer robot is one of sticking points and must be solved. In this paper, a geometrical self-localization method of autonomous soccer robot is introduced. There is a precondition that is some color landmarks in the field have been recognized by cyber-vision. A method of depth measurement by monocular vision is used in the geometrical self-localization method. And three possible factor bring ranging error are analyzed. They are quantization error of CCD image element, no-linearity aberration of its camcorder, and vidicon calibration etc. It´s shown that the geometrical self-localization method is effective, efficient robust