Stereoscopic Camera for Autonomous Mini-Robots Applied in KheperaSot League

Abstract

This paper presents a stereoscopic vision system for the\nmini-robot Khepera. The vision system performs objects\ndetection by using the stereo disparity and stereo\ncorrespondence. The stereoscopic vision system enhances\nrobot’s visual perception ability by grabbing stereo images\nand analysis 3D objects, while the robot doesn’t need to\nmove. The simple principle of our stereo vision is the less\ndisplacement of correspondence pixels shows that the\npixels object is far away. To realize the stereo vision and\nits calculation algorithms, the mini robot needs a powerful\nFPGA and micro-controller module as well as 2D color\ncameras. An application of Khepera equipped with the\nstereoscopic camera is robot soccer in the KheperaSot\nleague. In the match, the robot has to be able to detect its\nenvironment, i.e. the ball, walls, goals and its opponent.