In this paper, we propose a self-localization method for a soccer robot using an omnidirectional camera. Based on the projective geometry of the omnidirectional visual system, the image distortion from the original omnidirectional image can be completely corrected, so the robot can quickly localize itself on the playing field. First, we transform the distorted omnidirectional image to a distortion-free unwrapped image of the soccer field by projective geometry. The obtained image makes the sequent field recognizable and the self-localization of the robot more convenient and accurate. Then, by geometric invariants, the correspondence between the unwrapped image and the model of the playing field is constructed. Next, the homography theory is applied to get the precise location and orientation of the robot. The simulation and experimental results show that the proposed method can quickly and accurately determine the position and azimuth of the soccer robot and the distance between two objects on the playing field.

在本文中，我们提出了一种使用全向摄像机的足球机器人自定位方法。基于全向视觉系统的射影几何，可以完全校正原始全向图像的图像失真，因此机器人可以快速将自己定位在运动场上。首先，我们通过射影几何将变形的全向图像转换为足球场的无变形展开图像。所获得的图像使后续场变得可识别，并且机器人的自定位更加方便和准确。然后，通过几何不变性，构造展开图像与运动场模型之间的对应关系。接下来，应用单应性理论来获得机器人的精确位置和方向。