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
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;
Conference_Titel :
Intelligent Vehicles Symposium, 2003. Proceedings. IEEE
Print_ISBN :
0-7803-7848-2
DOI :
10.1109/IVS.2003.1212922
