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
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;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1248814
