[robocup-small] Camera FOV testing

[Xiong Rong]

Hi, All

We think increasing the field size will be difficult for us and the new teams.

Theoretically, our vision systerm can deal with the changes with a proper wide angle lens. 
But different from the Cameras used by other teams (780x580 pixels), our camera, Basler A311fc, 
only has a maximum pixels about 659 x 494. That means we will meet more difficulties to 
identify the object on the field, especially the ball. Changing the camera costs too much for us,  
so we don¡¯t support the idea to increase the field size so drastically. 

Furthermore, we don¡¯t have a lab big enough to test our software for a larger field. 
Maybe other teams have the same problem. 
At least, new teams will feel even harder to join.

Best regards,

Xiong Rong
(ZJUNlict)




·¢¼þÈË£º Mahisorn Wongphati
·¢ËÍʱ¼ä£º 2007-10-10 11:36:16
ÊÕ¼þÈË£º robocup-small at cc.gatech.edu; small-size-tc at tzi.de; small-size-oc at tzi.de
³­ËÍ£º 
Ö÷Ì⣺ Camera FOV testing

Hi All,

This is our testing result on our vision system. We use following component.

Lens - Tamron 12VM412ASIR @ 4mm focal length
(http://www.tamron.com/cctv/prod/12vm412asir.asp)
Camera - F046C (no different on FOV between 640x480 and 780x580 resolution)
http://www.alliedvisiontec.com/avt-products/cameras/marlin/f-046-b-bs-c.html

The result is we can have maximum FOV about 5200mmx3850mm for each
camera (roughly measure by tape-ruler). And the real FOV will become
smaller when we include the hight of our robots.

At maximum field size that propose by Tim 7.9mx5.6m (44,24m?37.74m?
101,09% 115,66%). We can still use our old system without change
anything. But I have a new proposal, if we want to use the largest
field we should change the height for the camara bar to 4.5m or more
(yes, more dangerous). Because if we have 5 or more teams on each
field some teams will unable to mount their cameras at the feasible
position. They will have FOV problem at 4m. height for sure.

What do you thing ?

Best Regards,
Mahisorn Wongphati
(Plasma-Z)
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