2005 | OriginalPaper | Buchkapitel
A New Omnidirectional Vision Sensor for Monte-Carlo Localization
verfasst von : E. Menegatti, A. Pretto, E. Pagello
Erschienen in: RoboCup 2004: Robot Soccer World Cup VIII
Verlag: Springer Berlin Heidelberg
Aktivieren Sie unsere intelligente Suche um passende Fachinhalte oder Patente zu finden.
Wählen Sie Textabschnitte aus um mit Künstlicher Intelligenz passenden Patente zu finden. powered by
Markieren Sie Textabschnitte, um KI-gestützt weitere passende Inhalte zu finden. powered by
In this paper, we present a new approach for omnidirectional vision-based self-localization in the RoboCup Middle-Size League. The omnidirectional vision sensor is used as a range finder (like a laser or a sonar) sensitive to colors transitions instead of nearest obstacles. This makes it possible to have a more reach information about the environment, because it is possible to discriminate between different objects painted in different colors. We implemented a Monte-Carlo localization system slightly adapted to this new type of range sensor. The system runs in real time on a low-cost pc. Experiments demonstrated the robustness of the approach. Event if the system was implemented and tested in the RoboCup Middle-Size field, the system could be used in other environments.