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A New Omnidirectional Vision Sensor for Monte-Carlo Localization

  • E. Menegatti
  • A. Pretto
  • E. Pagello
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3276)

Abstract

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.

Keywords

Mobile Robot Vision Sensor Sensor Model Robot Position Color Transition 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • E. Menegatti
    • 1
  • A. Pretto
    • 1
  • E. Pagello
    • 1
    • 2
  1. 1.Intelligent Autonomous Systems Laboratory, Department of Information EngineeringThe University of PaduaItaly
  2. 2.Institute ISIB of CNR PaduaItaly

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