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1、IEEETRANSACTIONSONINSTRUMENTATIONANDMEASUREMENT,VOL.49,NO.3,JUNE2000509AnOmnidirectionalVisionSensorforFastTrackingforMobileRobotsAndreaBonarini,PaoloAliverti,andMicheleLucioniAbstract—Wepresentanomnidirectionalvisionsystemwepurplemarker10cmhigh,visiblefromanydirectionandp
2、o-haveimplementedtoprovideourmobilerobotRullitwithasitionedbetween30and60cmabovetheground.Itwasclearfasttrackingcapability.RullithastorecognizeelementsinaatthelastRobocupWorldChampionships(Paris’98[3],Stock-semi-structuredenvironment(thesoccerfieldofRobocup)ataholm’99[4])t
3、hatafastvisionsystemandfastmovementabilityratecloseto20Hz.Wehavedesignedamulti-shapedmirrortooptimizetheresolutionoftheimageanditscoverage.Thearefundamentaltoobtainsatisfactoryperformance.Oneoftheinterpretationsystemisbasedonfocused,multi-level,andoppor-mostimportantactivi
4、tiesasoccerrobotshoulddoislookingfortunisticprocedures.theballandtrackingit,butalsolookingforgoalsandotheren-IndexTerms—Autonomousagents,imageprocessing,mobilevironmentalelementsforself-localization,andperceiveotherrobots,omnidirectionalvision.robotstointeractwiththem.Theb
5、allandtherobotscanmoveatmorethan1m/s.Mostoftherobotshadasingle,fixedcameraonboard,I.INTRODUCTIONpointedforward.ThisvisionsystemcoversonlyaportionofMNIDIRECTIONALvisionmakesitpossibletocoverathefieldandrequiresfastmovementsoftherobottotrackO360fieldofvision,byanalyzingonlyo
6、neimage.Thistheballandothermovingrobots.Moreover,whennavigatingmakesitpossibletoimplementfastvisionsensorssuitableforpurposefully,forinstancebringingtheballortryingtoreachawiderangeofapplications,suchas:surveillance,robot(andaposition,thevisiondirection(usuallytheheadingof
7、thevehicle,ingeneral)navigation,andtracking.Inthispaper,werobot)mightnotbeoptimal.Forinstanceiftherobotbringspresentanomnidirectionalvisionsystemwehaveimplementedtheball.Ithastocheckthepresenceoftheballinfrontofit,toprovideourmobilerobotRullitwithafasttrackingcapa-butalsot
8、hepresenceofthegoal,orofcompetitorsinotherbility.RullitisoneofthemembersofART(AzzurraRobo
