Abstract
After removing the walls around the field, vision-based localization has become an even more interesting approach for robotic soccer. The paper discusses how removal of the wall affects the localization task in RoboCup, both for vision-based and non-visual approaches, and argues that vision-based Monte Carlo localization based on landmark features seems to cope well with the changed field setup. An innovative approach for landmark feature detection for vision-based Monte Carlo Localization is presented. Experimental results indicate that the approach is robust and reliable.
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Utz, H., Neubeck, A., Mayer, G., Kraetzschmar, G. (2003). Improving Vision-Based Self-localization. In: Kaminka, G.A., Lima, P.U., Rojas, R. (eds) RoboCup 2002: Robot Soccer World Cup VI. RoboCup 2002. Lecture Notes in Computer Science(), vol 2752. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-45135-8_3
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