Steroscopic Camera for Autonomous Mini-Robots Applied in KheperaSot League

This paper presents a stereoscopic vision system for the mini-robot Khepera. The vision system performs objects detection by using the stereo disparity and stereo correspondence. The stereoscopic vision system enhances robot’s visual perception ability by grabbing stereo images and analysis 3D objects, while the robot doesn’t need to move. The simple principle of our stereo vision is the less displacement of correspondence pixels shows that the pixels object is far away. To realize the stereo vision and its calculation algorithms, the mini robot needs a powerful FPGA and micro-controller module as well as 2D color cameras. An application of Khepera equipped with the stereoscopic camera is robot soccer in the KheperaSot league. In the match, the robot has to be able to detect its environment, i.e. the ball, walls, goals and its opponent.