| Publication type: |
Article in Proceedings |
| Author: |
Thomas Röfer, Tim Laue, Dirk Thomas |
| Editor: |
Ansgar Bredenfeld, Adam Jacoff, Itsuki Noda, Yasutake Takahashi |
| Title: |
Particle-filter-based self-localization using landmarks and directed lines |
| Book / Collection title: |
RoboCup 2005: Robot Soccer World Cup IX |
| Volume: |
4020 |
| Page(s): |
608 – 615 |
| Series: |
Lecture Notes in Artificial Intelligence |
| Year published: |
2006 |
| Publisher: |
Springer |
| Abstract: |
The paper presents the self-localization approach used by the World Champion in the Sony Four-Legged Robot League 2004. The method is based on a particle filter that makes use of different features from the environment (beacons, goals, field lines, field wall) that provide diffrent kinds of localization information and that are recognized with different frequencies. In addition, it is discussed how the vision system acquires these features, especially, how the orientation of field lines is determined at low computational costs. |
| PDF Version: |
http://www.informatik.uni-bremen.de/kogrob/papers/rc06-selfloc.pdf |
| Status: |
Reviewed |
| Last updated: |
06. 11. 2013 |
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