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Summary

This chapter explained the methods used to solve the reconstruction problem. The first part describes the acquisition system and the geometry used. It has been shown that an almost parallel camera system which is 5cm translated in x direction is appropriate. The calibration method was used to describe the parameters of the camera. After the system is modelled, features have to be extracted. Thus, the edge detection technique used and a new method to find straight lines in edge images is presented. Straight lines have been considered as a convenient feature to describe the environment of a football playing robot. When features are correctly extracted and described, the correspondence problem can be solved. The results are used to calculate the 3D position of features found, and the OpenGL library is used to display them. The last part covers the electronic diagram of the rotating head and the describes the main parts.