DocumentCode
399285
Title
Real-time self-localization method in a dynamically changing environment
Author
Matsuoka, Takeshi ; Motomura, Akira ; Hasegawa, Tsutomu
Author_Institution
Dept. of Electr. Eng., Fukuoka Univ., Japan
Volume
2
fYear
2003
fDate
27-31 Oct. 2003
Firstpage
1234
Abstract
We propose a new real-time self-localization method for a mobile robot equipped with an omni-directional camera in a dynamically changing environment. This method uses direction of two landmarks and dead reckoning. Multiple localization process in parallel results robust and accurate localization. The proposed method applies to the soccer robot in the RoboCup middle-size league and an experimental result indicates that the approach is reliable.
Keywords
cameras; mobile robots; real-time systems; robot vision; stability; RoboCup middle-size league; changing environment; dead reckoning; mobile robot; multiple localization process; omnidirectional camera; real-time self-localization method; soccer robot; Cameras; Dead reckoning; Intelligent robots; Mobile robots; Navigation; Position measurement; Robot sensing systems; Robot vision systems; Robustness; Ultrasonic variables measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN
0-7803-7860-1
Type
conf
DOI
10.1109/IROS.2003.1248814
Filename
1248814
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