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

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.