Paper Info
Title
Catadioptric system optimisation for omnidirectional RoboCup MSL robots
Abstract
Omnidirectional RoboCup MSL robots often use catadioptric vision systems in order to enable 360° of field view. It comprises an upright camera facing a convex mirror, commonly spherical, parabolic or hyperbolic, that reflects the entire space around the robot. This technique is being used for more than a decade and in a similar way by most teams. Teams upgrade their cameras in order to obtain more and better information of the captured area in pixel quantity and quality, but a large image area outside the convex mirror is black and unusable. The same happens on the image centre where the robot shows itself. Some efficiency though, can be improved in this technique by the methods presented in this paper such as developing a new convex mirror and by repositioning the camera viewpoint. Using 3D modelling CAD/CAM software for the simulation and CNC lathe mirror construction, some results are presented and discussed.
Year
DOI
Venue
2011
10.1007/978-3-642-32060-6_27
RoboCup 2009
Keywords
DocType
Citations 
camera viewpoint,cnc lathe mirror construction,image centre,better information,upright camera,omnidirectional robocup msl robot,convex mirror,cam software,catadioptric system optimisation,new convex mirror,large image area,catadioptric system
Conference
0
PageRank 
References 
Authors
0.34
5
3
Name
Order
Citations
PageRank
Gil Lopes184.34
Fernando Ribeiro27810.36
Nino Pereira341.92