Design and Modeling of Omni-directional Vision System Applied in Autonomous Soccer Robot

The autonomous soccer robot with conventional vision cameras has limited fields of view which can be overcome by moving the robot, thus increasing the control difficulty. A omni-directional vision system uses a combination of lenses and mirrors placed in a carefully arranged configuration to capture a much wider field of view. This paper introduced study on omni-directional vision system applied in autonomous soccer robot and its imaging model. Mirror parameters of omni-directional vision sensor were designed using condition and equation of single viewpoint constraint, and dimension of the omni-directional vision system was determined. A set of models including reflect and refraction model were built. The relation between image point and corresponding world point was determined that can offer essential model and algorithm for omni-directional image process. Their practicability is tested through the simulation and real image experiments