Catadioptric System Optimisation for Omnidirectional RoboCup MSL Robots

  • Gil Lopes
  • Fernando Ribeiro
  • Nino Pereira
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7416)


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.


Omnidirectional robots RoboCup MSL catadioptric system 3D modelling 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Gil Lopes
    • 1
  • Fernando Ribeiro
    • 1
  • Nino Pereira
    • 1
  1. 1.Industrial Electronics DepartmentUniv. of MinhoGuimarãesPortugal

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