The Hardware Design Of Panoramic Vision For Spherical Target Without Distortion

Omni-directional vision is the research focus of robot vision and pattern recognition. Omni-directional vision has the features with a wide range of observation and perception of information-rich, compared with the traditional single-view camera, it is more suitable to observe the environment for soccer robot, has gradually become an important means of sensing the external environment for robot. In this paper, the research platform is autonomous medium-sized soccer robot, the main objective is the design of omni-directional vision hardware system for spherical target without distortion, including the design of omni-directional reflectors and controlled stent of external parameters. The main contents include:First of all, the research background of this paper is robot soccer competition, indicating the importance of the research. Give the analysis of the whole international research situation, development and application for omni-directional vision sensor, and a brief account of the main research elements.Secondly, RoboCup Middle Size Robot Soccer as a research platform, on the basis of in-depth studying omni-directional imaging principles model of catadioptric vision systems, and the characteristics of a variety of commonly used mirrors, according to the changing trends of RoboCup rules of RoboCup Middle Size Robot Soccer, we proposed the designing methods of the omni-directional reflector for spherical target without distortion. This method is by controlling the imaging deformation of spherical targets to identify the similar color targets, without considering the color feature of the target, it is free from the previous method that omni-directional reflector rely solely on the color of signs to distinguish the characteristics of target, it can effectively meet the requirement of match.Third, on the design of omni-directional reflector, we designed the stent system by controlling an external parameter. Compared the external structure of stent system, by analyzing advantages and disadvantages of a traditional stent, we give the designing requirements for stent of controllable external parameters. Controllable stent can make vision systems more flexible and easier to adjust, we do not need to replace the entire bracket in the replacement of the camera or the reflector, thus reducing maintenance costs and saving time.Finally, we give the visual simulation and practical results of the entire hardware system, and actual results show that the design of omni-directional vision hardware system significantly improved the original vision system, and has a goal of controlled, high precision, stable and reliable characteristics, can be effectively applied to the actual game.