Rapid self-localization of robot based on omnidirectional vision technology
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ORIGINAL PAPER
Rapid self-localization of robot based on omnidirectional vision technology Tsorng-Lin Chia1 · Shu-Yin Chiang2
· Chaur-Heh Hsieh3
Received: 9 June 2019 / Revised: 28 May 2020 / Accepted: 15 September 2020 / Published online: 3 October 2020 © Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract In this paper, we propose a self-localization method for a soccer robot using an omnidirectional camera. Based on the projective geometry of the omnidirectional visual system, the image distortion from the original omnidirectional image can be completely corrected, so the robot can quickly localize itself on the playing field. First, we transform the distorted omnidirectional image to a distortion-free unwrapped image of the soccer field by projective geometry. The obtained image makes the sequent field recognizable and the self-localization of the robot more convenient and accurate. Then, by geometric invariants, the correspondence between the unwrapped image and the model of the playing field is constructed. Next, the homography theory is applied to get the precise location and orientation of the robot. The simulation and experimental results show that the proposed method can quickly and accurately determine the position and azimuth of the soccer robot and the distance between two objects on the playing field. Keywords Omnidirectional vision system · Soccer robot · Self-localization · Homography
1 Introduction Autonomous robotic research is an interdisciplinary field involving mechanical design, mechanical and electrical integration control, environmental sensing, wireless communication, and artificial intelligence. The developing potential of this field makes it one of the most popular research topics. To encourage the development and further investigation of robots, international robot soccer games are held as a platform for technical exchange and communication. The most popular soccer games are RoboCup and Federation of International Robot-Sports Association (FIRA). To participate in the competitions and improve their technical ability, more than ten countries have set up state-level committees, responsible for organizing activities and planning for development.
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Shu-Yin Chiang [email protected]
1
Department of Computer and Communication Engineering, Ming Chuan University, Taoyuan City 333, Taiwan
2
Department of Information and Telecommunications Engineering, Ming Chuan University, Taoyuan City 333, Taiwan
3
College of Artificial Intelligence, Yango University, Fuzhou, China
These strategies show that the development of robot technology has been regarded as a symbol of national strength, and the prospects for its future growth are expected to be bright. Ming Chuan University has participated in the FIRA Robot Soccer Competition for more than six years and has won second place for many years. To enhance capability in the competition, this study is based on the standard of FIRA’s autonomous middle-size robot (RoboSot League) (as shown in Fig. 1) to develop a more rapid p
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