Mosaic-based global vision system for small size robot league

Abstract

In the RoboCup F180 Small Size League, a global vision system using multiple cameras has been used to capture the whole field view. In the overlapping area of two cameras' views, a process to merge information from both cameras is needed. To avoid this complex process and rule-based approach, we propose a mosaic-based global vision system which produces high resolution images from multiple cameras. Three mosaic images, which take into account the height of each object such as our robots, opponent robots, and the ball on the field, are generated by pseudo corresponding points. Our system archives a position accuracy of better than 14.2 mm(mean: 4 mm) over a 4 × 5.5 m field. © Springer-Verlag Berlin Heidelberg 2006.