RoboCup-98: Robot Soccer World Cup II
Designing an Omnidirectional Vision System for a Goalkeeper Robot
RoboCup 2001: Robot Soccer World Cup V
ViperRoos: Developing a Low Cost Local Vision Team for the Small Size League
RoboCup 2001: Robot Soccer World Cup V
Golem Team in Middle-Sized Robots League
RoboCup 2000: Robot Soccer World Cup IV
A Non-traditional Omnidirectional Vision System with Stereo Capabilities for Autonomous Robots
AI*IA 01 Proceedings of the 7th Congress of the Italian Association for Artificial Intelligence on Advances in Artificial Intelligence
Fun2Mas: The Milan Robocup Team
RoboCup 2001: Robot Soccer World Cup V
Constant Resolution Omnidirectional Cameras
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
Mirror Design of a Prescribed Accuracy Omni-directional Vision System
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
Design of vertically aligned binocular omnistereo vision sensor
Journal on Image and Video Processing - Special issue on multicamera information processing: acquisition, collaboration, interpretation, and production
Line Localization from Single Catadioptric Images
International Journal of Computer Vision
Catadioptric system optimisation for omnidirectional RoboCup MSL robots
Robot Soccer World Cup XV
A survey on team strategies in robot soccer: team strategies and role description
Artificial Intelligence Review
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This paper presents an omni-directional sensor based on a camera and a mirror generated with a surface of revolution. The requirements the device must fulfill result from its use as the main perception system for the autonomous mobile robots used in F2000 RoboCup competitions. The more relevant requirements which have been pursued are: 1) range sensing in a quite wide region centered around the robot, with good accuracy; 2) sensing around the robot in a given vertical sector, in order to recognize team-mates and adversaries (all robots have a colored marker above a given height); 3) range sensing in a region very close around the robot, with the highest accuracy, to locate and kick the ball. Such requirements have been fulfilled by the design of a mirror built up of three different parts. Each part is devoted to the fulfillment of one requirement. Concerning the first requirement the approach developed is based on the design of a mirror's profile capable to optically compensate the image distortion provided by the mirror profiles commonly used in previous literature. This approach resulted to be similar to a previous work by Hicks and Bajcsy, although independently developed by the authors.