Accurate and stable vision in robot soccer

摘要

Robot soccer requires vision to be fast, robust and accurate to capture environment situation. In this paper a new method to improve accuracy and stability of vision system in robot soccer is presented. The main topics are camera calibration and robot localization with colored patterns. The lens distortion is successfully compensated and image coordinates is correctly projected to real field, thus achieving a more accurate estimation of object detection. Stability of the position and orientation of a robot is significantly improved with well-chosen colored patterns. Both simulation and experiment results show that our method performs well to provide accurate and stable vision in robot soccer.