A target localization method for soccer robot based on Omni-directional vision

Target localization for soccer robot based on Omni-directional vision is considered. The vision system of the MT-R robot is described. For Omni-directional vision, the target is recognized from the image through the threshold value division method. The corresponding relationship of the target position between the image coordinate and the robot coordinate is analyzed. The method of image polar coordinate transforming and piece-wise defined Lagrange interpolation for target location is adopted. Experiments have been carried out on the soccer robot M-TR for the ball recognition. Experimental results show the effectiveness of the proposed localization method.