DocumentCode
1655160
Title
An omni-vision based self-localization method for soccer robot
Author
Ji, Junhong ; Indiveri, Giovanni ; Ploeger, Paul ; Bredenfeld, Ansgar
Author_Institution
Autonomous Intelligent Syst., St. Augustin, Germany
fYear
2003
Firstpage
276
Lastpage
281
Abstract
An omni vision based new triangulation method for localizing a mobile robot or intelligent vehicle in an environment with landmarks is proposed in this paper. Our vision program can identify some landmarks from the image, then the triangulation method estimates the robot´s position and orientation in the environment coordinates, just using the view angle to these landmarks. A RoboCup middle size league soccer robot is chosen to test the algorithm, experimental results are provided.
Keywords
mobile robots; object recognition; position control; robot vision; self-adjusting systems; landmark recognition; mobile robot; omnidirectional vision; position control; robocup middle size league soccer robot; robot orientation; soccer robot; triangulation method; vision based self localization; Cameras; Image sensors; Intelligent robots; Intelligent systems; Intelligent vehicles; Mobile robots; Navigation; Robot kinematics; Robot sensing systems; Robot vision systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Vehicles Symposium, 2003. Proceedings. IEEE
Print_ISBN
0-7803-7848-2
Type
conf
DOI
10.1109/IVS.2003.1212922
Filename
1212922
Link To Document