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An omnidirectional vision sensor for fast tracking for mobile robots

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3 Author(s)
Bonarini, A. ; Dipt. di Elettronica e Inf., Politecnico di Milano, Italy ; Aliverti, P. ; Lucioni, M.

We present an, omnidirectional vision system me have implemented to provide our mobile robot (Polyphemus“the one with only one eye) with a fast tracking capability. Polyphemus has to recognize elements in a semi-structured environment (the soccer field of Robocup) at a rate close to 20 Hz. We have designed a multi-shaped mirror to optimize the resolution of the image and its vertical coverage. The interpretation system is based on focused, multi-level, and opportunistic procedures

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Instrumentation and Measurement Technology Conference, 1999. IMTC/99. Proceedings of the 16th IEEE  (Volume:1 )

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