Abstract
In this paper, a method for robot self-localization based on a catadioptric omni-directional sensor is introduced. The method was designed to be applied to fully autonomous soccer robots participating in the middle-size league of RoboCup competitions. It uses natural landmarks of the soccer field, such as field lines and goals, as well as a priori knowledge of the field geometry, to determine the robot position and orientation with respect to a coordinate system whose location is known. The landmarks are processed from an image taken by an omni-directional vision system, based on a camera plus a convex mirror designed to obtain (by hardware) the ground plane bird’s eye view, thus preserving field geometry in the image. Results concerning the method’s accuracy are presented.
This work was supported by grant PRAXIS XXI /BM /21091 /99 of the Portuguese Foundation for Science and Technology
Acknowledgements
The authors would like to thank Luis Custodio, José Santos-Victor and Rodrigo Ventura for the fruitful discussions about the subject of this paper.
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Marques, C.F., Lima, P.U. (2001). A Localization Method for a Soccer Robot Using a Vision-Based Omni-Directional Sensor. In: Stone, P., Balch, T., Kraetzschmar, G. (eds) RoboCup 2000: Robot Soccer World Cup IV. RoboCup 2000. Lecture Notes in Computer Science(), vol 2019. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45324-5_8
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