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A Localization Method for a Soccer Robot Using a Vision-Based Omni-Directional Sensor (2000)
| Content Provider | CiteSeerX |
|---|---|
| Author | Marques, Carlos F. Lima, Pedro U. |
| Description | In Proceedings of EuRoboCup Workshop |
| Abstract | In this paper, a method for robot self-localization based on a catadioptric omni-directional sensor is introduced. The method was designed to be applied to fully autonomous soccer robots participating in the middle-size league of RoboCup competitions. It uses natural landmarks of the soccer field, such as field lines and goals, as well as a priori knowledge of the field geometry, to determine the robot position and orientation with respect to a coordinate system whose location is known. The landmarks are processed from an image taken by an omni-directional vision system, based on a camera plus a convex mirror designed to obtain (by hardware) the ground plane bird's eye view, thus preserving field geometry in the image. Results concerning the method's accuracy are presented. |
| File Format | |
| Publisher Date | 2000-01-01 |
| Access Restriction | Open |
| Subject Keyword | Soccer Field Priori Knowledge Middle-size League Robocup Competition Field Geometry Vision-based Omni-directional Sensor Natural Landmark Ground Plane Bird Field Line Omni-directional Vision System Coordinate System Autonomous Soccer Robot Catadioptric Omni-directional Sensor Robot Position Eye View Soccer Robot Localization Method Robot Self-localization Convex Mirror |
| Content Type | Text |
| Resource Type | Proceeding Conference Proceedings |
