Comers detecting is the first step for recognizing marker and calculating camera pose.
标记的角点检测是标记识别以及摄像头姿态计算的首要步骤。
By calculating the robot's position, pose and desired shoot Angle dynamically, the soccer robot was controlled to move to target at ellipse curve and shoot quickly.
通过计算足球机器人当前位姿及期望射门角度，控制机器人按照椭圆曲线路径运动至射门目标点，实现快速有效击球射门。
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