Title :
Localization for mobile robots using lines
Author_Institution :
Dept. of Comput. Sci., Manitoba Univ., Winnipeg, Man., Canada
Abstract :
This paper describes the localization method used in the 4 Stooges robotic soccer team [J. Baltes, November 1999]. A soccer field is a challenging environment for localization, since it proves new unique landmarks. The methodology described in the paper uses vision feedback from straight lines to determine the motion parameters. These parameters are used both to update the current location estimate as well as actuator model of the robot.
Keywords :
feedback; mobile robots; motion estimation; robot vision; sport; 4 Stooges robotic soccer team; actuator model; current location estimate; ego motion estimation; lines; localization method; mobile robots; motion parameter estimation; soccer field; vision feedback; Cameras; Computer science; Computer vision; Feedback; Layout; Mobile robots; Motion estimation; Robot kinematics; Robot sensing systems; Robot vision systems;
Conference_Titel :
Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on
Print_ISBN :
981-04-8364-3
DOI :
10.1109/ICARCV.2002.1234825
