说明：  对所开发的小型全自主足球机器人只依靠双目异构视觉进行导航问题进行了研究.建立了双视觉测 量目标相对和全局坐标的模型, 给出了上目和下目的基本导航方法. 然后重点分析了基于双目协调的足球机器人导 航数据融合方法和双目协调机理. 在所开发的全自主足球机器人上进行的实验及在 FIRA 的世界杯赛上机器人的成 功表现, 证明了双目协调导航的有效性和实用性
(The development of small autonomous soccer robots only rely eyes heterogeneous visual navigation problems double vision measurement objectives relative and global coordinate model, basic navigation methods on the head and under the purpose and focus based binocular coordination of soccer robot navigation data fusion and binocular coordination mechanism. autonomous soccer robots developed by the experiment and the successful performance of the robot in the FIRA World Cup proved binocular coordination navigation, effectiveness and practicality)