Abstract：Navigation based on two different structured CCD cameras mounted on small size autonomous soccer robot is presented. Models to get the local and global coordinates are given and navigation methods of each CCD are discussed. Then the approach of data fusion and coordination based on the two CCD system to implement navigation of soccer robot are analyzed in detail. The validation and practicability of navigation based on coordination of two-CCD system are proved by the experiment on the accomplished robot and FIRA world Cup competition.
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