Abstract
This paper presents a fast approach for edge-based self-localization in RoboCup. The vision system extracts edges between the field and field lines, borders, and goals following a grid-based approach without processing whole images. These edges are employed for the self-localization of the robot. Both image processing and self-localization work in real-time on a Sony Aibo, i. e. at the frame rate of the camera. The localization method was evaluated using a laser range sensor at the field border as a reference system.
The Deutsche Forschungsgemeinschaft supports this work through the priority program “Cooperating teams of mobile robots in dynamic environments”.
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© 2004 Springer-Verlag Berlin Heidelberg
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Röfer, T., Jüngel, M. (2004). Fast and Robust Edge-Based Localization in the Sony Four-Legged Robot League. In: Polani, D., Browning, B., Bonarini, A., Yoshida, K. (eds) RoboCup 2003: Robot Soccer World Cup VII. RoboCup 2003. Lecture Notes in Computer Science(), vol 3020. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-25940-4_23
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DOI: https://doi.org/10.1007/978-3-540-25940-4_23
Publisher Name: Springer, Berlin, Heidelberg
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