Computer graphics (2nd ed. in C): principles and practice
Computer graphics (2nd ed. in C): principles and practice
A Theory of Single-Viewpoint Catadioptric Image Formation
International Journal of Computer Vision
A Flexible New Technique for Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
A homogeneous formulation for lines in 3 space
SIGGRAPH '77 Proceedings of the 4th annual conference on Computer graphics and interactive techniques
Designing an Omnidirectional Vision System for a Goalkeeper Robot
RoboCup 2001: Robot Soccer World Cup V
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Roles, Positionings and Set Plays to Coordinate a RoboCup MSL Team
EPIA '09 Proceedings of the 14th Portuguese Conference on Artificial Intelligence: Progress in Artificial Intelligence
Obstacle Detection, Identification and Sharing on a Robotic Soccer Team
EPIA '09 Proceedings of the 14th Portuguese Conference on Artificial Intelligence: Progress in Artificial Intelligence
Ball interception behaviour in robotic soccer
Robot Soccer World Cup XV
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The use of single viewpoint catadioptric vision systems is a common approach in mobile robotics, despite the constraints imposed by those systems. A general solution to calculate the robot centered distances map on non-SVP catadioptric setups, exploring a back-propagation ray-tracing approach and the mathematical properties of the mirror surface is discussed in this paper. Results from this technique applied in the robots of the CAMBADA team (Cooperative Autonomous Mobile Robots with Advanced Distributed Architecture) are presented, showing the effectiveness of the solution.