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Landmark Based Global Self-localization of Mobile Soccer Robots

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Computer Vision – ACCV 2006 (ACCV 2006)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 3852))

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Abstract

We present a stereo vision based global self-localization strategy for tiny autonomous mobile robots in a well-known dynamic environment. Global localization is required for an initial startup or when the robot loses track of its pose during navigation. Existing approaches are based on dense range scans, active beacon systems, artificial landmarks, bearing measurements using omni-directional cameras or bearing/range calculation using single frontal cameras, while we propose feature based stereo vision system for range calculation. Location of the robot is estimated using range measurements with respect to distinct landmarks such as color transitions, corners, junctions and line intersections. Unlike methods based on angle measurement, this method requires only two distinct landmarks. Simulation results show that robots can successfully localize themselves whenever two distinct landmarks are observed. As such marked minimization of landmarks for vision based self-localization of robots has been achieved.

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Author information

Authors and Affiliations

  1. Institute of Computer Technology, Vienna University of Technology, Vienna, Austria

    Abdul Bais

  2. Pattern Recognition and Image Processing Group, Institute of Computer Aided Automation, Vienna University of Technology, Vienna, Austria

    Robert Sablatnig

Authors
  1. Abdul Bais
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  2. Robert Sablatnig
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Editor information

Editors and Affiliations

  1. Center for Visual Information Technology, International Institute of Information Technology, Hyderabad, India

    P. J. Narayanan

  2. Department of Computer Science, Columbia University, 500 West 120th Street, NY 10027, New York, USA

    Shree K. Nayar

  3. Microsoft Research Asia, P.O. Box, Beijing, P.R. China

    Heung-Yeung Shum

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© 2006 Springer-Verlag Berlin Heidelberg

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Bais, A., Sablatnig, R. (2006). Landmark Based Global Self-localization of Mobile Soccer Robots. In: Narayanan, P.J., Nayar, S.K., Shum, HY. (eds) Computer Vision – ACCV 2006. ACCV 2006. Lecture Notes in Computer Science, vol 3852. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11612704_84

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  • DOI: https://doi.org/10.1007/11612704_84

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-31244-4

  • Online ISBN: 978-3-540-32432-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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