Publicação
Catadioptric system optimisation for omnidirectional Robocup MSL robots
| Resumo: | Omnidirectional Robocup MSL robots often use catadioptric vision systems in order to enable 360º of field view. It comprises an upright camera facing a convex mirror, commonly spherical, parabolic or hyperbolic, that reflects the entire space around the robot. This technique is being used for more than a decade and in a similar way by most teams. Teams upgrade their cameras in order to obtain more and better information of the captured area in pixel quantity and quality, but a large image area outside the convex mirror is black and unusable. The same happens on the image centre where the robot shows itself. Some efficiency though, can be improved in this technique by the methods presented in this paper such as developing a new convex mirror and by repositioning the camera viewpoint. Using 3D modelling CAD/CAM software for the simulation and CNC lathe mirror construction, some results are presented and discussed. |
|---|---|
| Autores principais: | Lopes, Gil |
| Outros Autores: | Ribeiro, A. Fernando; Pereira, Nino |
| Assunto: | Omnidirectional robots RoboCup MSL catadioptric system 3D Modelling |
| Ano: | 2012 |
| País: | Portugal |
| Tipo de documento: | capítulo de livro |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Universidade do Minho |
| Idioma: | inglês |
| Origem: | RepositóriUM - Universidade do Minho |
| _version_ | 1866270601821290496 |
|---|---|
| author | Lopes, Gil |
| author2 | Ribeiro, A. Fernando Pereira, Nino |
| author2_role | author author |
| author_facet | Lopes, Gil Ribeiro, A. Fernando Pereira, Nino |
| author_role | author |
| contributor_name_str_mv | Universidade do Minho |
| country_str | PT |
| creators_json_txt | [{\"Person.name\":\"Lopes, Gil\"},{\"Person.name\":\"Ribeiro, A. Fernando\"},{\"Person.name\":\"Pereira, Nino\"}] |
| datacite.contributors.contributor.contributorName.fl_str_mv | Universidade do Minho |
| datacite.creators.creator.creatorName.fl_str_mv | Lopes, Gil Ribeiro, A. Fernando Pereira, Nino |
| datacite.date.Accepted.fl_str_mv | 2012-01-01T00:00:00Z |
| datacite.date.available.fl_str_mv | 2012-12-04T18:03:44Z |
| datacite.date.embargoed.fl_str_mv | 2012-12-04T18:03:44Z |
| datacite.rights.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| datacite.subjects.subject.fl_str_mv | Omnidirectional robots RoboCup MSL catadioptric system 3D Modelling |
| datacite.titles.title.fl_str_mv | Catadioptric system optimisation for omnidirectional Robocup MSL robots |
| dc.contributor.none.fl_str_mv | Universidade do Minho |
| dc.creator.none.fl_str_mv | Lopes, Gil Ribeiro, A. Fernando Pereira, Nino |
| dc.date.Accepted.fl_str_mv | 2012-01-01T00:00:00Z |
| dc.date.available.fl_str_mv | 2012-12-04T18:03:44Z |
| dc.date.embargoed.fl_str_mv | 2012-12-04T18:03:44Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | https://hdl.handle.net/1822/21158 |
| dc.language.none.fl_str_mv | eng |
| dc.publisher.none.fl_str_mv | Springer Verlag |
| dc.rights.none.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| dc.subject.none.fl_str_mv | Omnidirectional robots RoboCup MSL catadioptric system 3D Modelling |
| dc.title.fl_str_mv | Catadioptric system optimisation for omnidirectional Robocup MSL robots |
| dc.type.none.fl_str_mv | http://purl.org/coar/resource_type/c_3248 |
| description | Omnidirectional Robocup MSL robots often use catadioptric vision systems in order to enable 360º of field view. It comprises an upright camera facing a convex mirror, commonly spherical, parabolic or hyperbolic, that reflects the entire space around the robot. This technique is being used for more than a decade and in a similar way by most teams. Teams upgrade their cameras in order to obtain more and better information of the captured area in pixel quantity and quality, but a large image area outside the convex mirror is black and unusable. The same happens on the image centre where the robot shows itself. Some efficiency though, can be improved in this technique by the methods presented in this paper such as developing a new convex mirror and by repositioning the camera viewpoint. Using 3D modelling CAD/CAM software for the simulation and CNC lathe mirror construction, some results are presented and discussed. |
| dirty | 0 |
| eu_rights_str_mv | openAccess |
| format | bookPart |
| fulltext.url.fl_str_mv | https://prod-dspace.uminho.pt/bitstreams/b8050e43-a618-4683-a8fc-a7d5ccce1a04/download |
| id | rum_54202bbb75df8ba3cb141eb67fcd9628 |
| identifier.url.fl_str_mv | https://hdl.handle.net/1822/21158 |
| instacron_str | repositorium |
| institution | Universidade do Minho |
| instname_str | Universidade do Minho |
| language | eng |
| network_acronym_str | rum |
| network_name_str | RepositóriUM - Universidade do Minho |
| oai_identifier_str | oai:repositorium.uminho.pt:1822/21158 |
| organization_str_mv | urn:organizationAcronym:repositorium |
| person_str_mv | Lopes, Gil Ribeiro, A. Fernando Pereira, Nino |
| publishDate | 2012 |
| publisher.none.fl_str_mv | Springer Verlag |
| reponame_str | RepositóriUM - Universidade do Minho |
| repository_id_str | urn:repositoryAcronym:rum |
| service_str_mv | urn:repositoryAcronym:rum |
| spelling | engSpringer VerlagporOmnidirectional Robocup MSL robots often use catadioptric vision systems in order to enable 360º of field view. It comprises an upright camera facing a convex mirror, commonly spherical, parabolic or hyperbolic, that reflects the entire space around the robot. This technique is being used for more than a decade and in a similar way by most teams. Teams upgrade their cameras in order to obtain more and better information of the captured area in pixel quantity and quality, but a large image area outside the convex mirror is black and unusable. The same happens on the image centre where the robot shows itself. Some efficiency though, can be improved in this technique by the methods presented in this paper such as developing a new convex mirror and by repositioning the camera viewpoint. Using 3D modelling CAD/CAM software for the simulation and CNC lathe mirror construction, some results are presented and discussed.application/pdfporCatadioptric system optimisation for omnidirectional Robocup MSL robotsLopes, GilRibeiro, A. FernandoPereira, NinoHostingInstitutionOrganizationalUniversidade do Minhoe-mailmailto:repositorium@usdb.uminho.ptrepositorium@usdb.uminho.ptISBNIsPartOf9783642320590ISSNIsPartOf0302-9743DOIIsPartOf10.1007/978-3-642-32060-6_272012-12-04T18:03:44Z20122012-01-01T00:00:00ZHandlehttps://hdl.handle.net/1822/21158http://purl.org/coar/access_right/c_abf2open accessOmnidirectional robotsRoboCup MSLcatadioptric system3D Modelling699888 bytesliteraturehttp://purl.org/coar/resource_type/c_3248book parthttp://purl.org/coar/access_right/c_abf2application/pdffulltexthttps://prod-dspace.uminho.pt/bitstreams/b8050e43-a618-4683-a8fc-a7d5ccce1a04/download |
| spellingShingle | Catadioptric system optimisation for omnidirectional Robocup MSL robots Lopes, Gil Omnidirectional robots RoboCup MSL catadioptric system 3D Modelling |
| status | SINGLETON |
| subject.fl_str_mv | Omnidirectional robots RoboCup MSL catadioptric system 3D Modelling |
| title | Catadioptric system optimisation for omnidirectional Robocup MSL robots |
| title_full | Catadioptric system optimisation for omnidirectional Robocup MSL robots |
| title_fullStr | Catadioptric system optimisation for omnidirectional Robocup MSL robots |
| title_full_unstemmed | Catadioptric system optimisation for omnidirectional Robocup MSL robots |
| title_short | Catadioptric system optimisation for omnidirectional Robocup MSL robots |
| title_sort | Catadioptric system optimisation for omnidirectional Robocup MSL robots |
| topic | Omnidirectional robots RoboCup MSL catadioptric system 3D Modelling |
| topic_facet | Omnidirectional robots RoboCup MSL catadioptric system 3D Modelling |
| url | https://hdl.handle.net/1822/21158 |
| visible | 1 |