关键词: 全向视觉系统, 标定, 模型无关, 足球机器人

Abstract: The traditional calibration methods for omni-directional vision system make the assumptions that the vision system is a single view point system and the shape of the omni-directional mirror is symmetric in every direction.As the assumptions are hard to meet in applications，the calibration precision may be affected greatly.A new model-free calibration method is designed according to the characteristic of the omni-directional vision.The new method can be applied in the calibration of all kinds of catadioptric omni-directional vision systems with good precision without making the above assumptions.After applying the new method in the calibration of the omni-directional vision system of NuBot，the accuracy of robot’s self-localization based on omni-directional vision is obviously improved，and this verifies the efficiency and practicability of the new method.

Key words: omni-directional vision system, calibration, model-free, soccer robot