Omni-directional catadioptric vision for soccer robots
This paper describes the design of a multi-part mirror catadioptric vision system and its use for self-localization and detection of relevant objects in soccer robots. The mirror and associated algorithms have been used in robots participating in the middle-size league of RoboCup  The World Cup of Soccer Robots.
catadioptric vision soccer robots self-localization omni-directional vision virtual sensors hough transform