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ROBOCUP
2004
Springer

A New Omnidirectional Vision Sensor for Monte-Carlo Localization

9 years 5 months ago
A New Omnidirectional Vision Sensor for Monte-Carlo Localization
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.
Emanuele Menegatti, Alberto Pretto, Enrico Pagello
Added 02 Jul 2010
Updated 02 Jul 2010
Type Conference
Year 2004
Where ROBOCUP
Authors Emanuele Menegatti, Alberto Pretto, Enrico Pagello
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