Fast and robust edge-based localization in the Sony Four-Legged Robot League

被引：0
|
作者：
Röfer, T
Jüngel, M
机构：
[1] Univ Bremen, Technol Zentrum Informat, Bremer Inst Sichere Syst, D-2800 Bremen 33, Germany
[2] Humboldt Univ, Inst Informat, LFG Kunstl Intelligenz, D-1086 Berlin, Germany
来源：
ROBOCUP 2003: ROBOT SOCCER WORLD CUP VII | 2004年 / 3020卷
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a fast approach for edge-based self-localization in RoboCup. The vision system extracts edges between the field and field lines, borders, and goals following a grid-based approach without processing whole images. These edges are employed for the self-localization of the robot. Both image processing and self-localization work in real-time on a Sony Aibo, i.e. at the frame rate of the camera. The localization method was evaluated using a laser range sensor at the field border as a reference system.
引用
收藏
页码：262 / 273
页数：12
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