本文给出了robocup 中型组足球比赛机器人在全维视觉情况下，对足球比赛中目标定位的一种方法。文中推导了一种针对全向摄像机镜面投影的变换关系，该方法简单有效，为全维视觉下的图像处理提供了必要模型。实验结果证明了该种方法的有效性。关键词：全维视觉，目标跟踪，足球赛机器人Abstract: An objects(such as the ball, the goals) orientation method for the Robocup competition in the middle-size league is presented. Each robot is equipped with an omni-directional camera. The coordinates transformation from the omni-directional image plane to the competition filed is established, which provides an essential model and an design criteria for the omni-directional camera based orientation. The experimental results show the feasibility of the method.Keywords: omni-directional vison, objects tracking, Robocup competition