Pseudo-local Vision System Using Ceiling Camera for Small Multi-robot Platforms
نویسندگان
چکیده
Pseudo-local vision system, which simulates visual information derived from an on-board camera of mobile robot based on a ceiling camera image, is proposed. It consists of a vision server and a client module which communicate with each other in the SoccerServer-like protocol. An image processing module for the on-board camera in the control program is replaced with this system. The simulated visual information is not a two-dimensional image data but a one-dimensional array which represents the nearest edge in each direction around the robot. However, it contains some of essential information of the on-board camera image. This concept was implemented for our robot system for the RoboCup Small-Size League. The server can transmit the edge data to 10 clients 30 times per 1 second. The time lag between grabbing image on the server and extracting visual information on the client is about 10[ms].
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تاریخ انتشار 2003