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1、ASELF-LOCALITIONMETHODWITHMONOCULARVISIONFORAUTONOMOUSSOCCERROBOTLIUBING-RU,XIEYUN,YANGYI-MIN,XIAYI-MIN,QIUZHEN-ZHENFacultyofAutomation,GuangdongUniversityofTechnology,Guangzhou510090,ChinaE-MAIL:lbingrug21cn.com,xieyunggdut.edu.cn,echosun80@l63.comAbstract:pr
2、ocessingsystem.However,aoverallvisionisprohibitedInautonomousrobotsoccersystem,everyautonomoussoccerrobotisanunattachedintellectiverobot.Therobothasusinginrobotsoccermatc.Inordertomakesystemknowitsdecisionsubsystem,communicationsubsystem,visionandtheinformatio
3、nofoverallsituationonsite,oneofthekeymulti-sensorsubsystem,machine-electriccontrolsubsystemproblemsmustbesolvedistheself-locationofsocceretc.Butanyoverallvisionisforbidden.Togettheoverallrobot.informationofthefield,theself-localizationofautonomousLocationistod
4、eterminethepositionin2dimensionsoccerrobotisoneofstickingpointsandmustbesolved.Inthispaper,ageometricalself-localizationmethodofworkingenvironmentsrelativetothepositionoftheautonomoussoccerrobotisintroduced.Thereisacoordinateofoverallsituation21.Themainself-lo
5、cationpreconditionthatissomecolorlandmarksinthefieldhavemethodwithmonocularvisionforautonomoussoccerrobotbeenrecognizedbycyber-vision.Amethodofdepthisinertialocationandlandmarkedlocation.Landmarkedmeasurementbymonocularvisionisusedinthegeometricallocaionbaseso
6、nrobotvision,usessomeknownlandmarkself-localizationmethod.Andthreepossiblefactorbringintherobot'slocatedenvironmentmark,suchasthewhiterangingerrorareanalyzed.Theyarequantizationerroroflineonsoccersite(includeboundaryline,thelineofCCDimageelement,no-linearityab
7、errationofitscamcorder,forbiddenzoneandcenterlineetc.),yellowblueangleflagandvidiconcalibrationetc.It'sshownthatthegeometricalandgoaletc.whichhavetheplaceinformationofcolorself-localizationmethodiseffective,efficientrobust.feature3],.Itcandetermineselfposition
8、bysurveythelandKeywords:mark.ItmeansthatwecandeterminethelocationofrobotAutonomousSoccerRobot,monocularvision,depthonthescenebymeasuringthedistancebetweenrobotandmeasurement,geomet
