Line Point Registration: A Technique for Enhancing Robot Localization in a Soccer Environment

  • Thomas Whelan
  • Sonja Stüdli
  • John McDonald
  • Richard H. Middleton
Conference paper

DOI: 10.1007/978-3-642-32060-6_22

Part of the Lecture Notes in Computer Science book series (LNCS, volume 7416)
Cite this paper as:
Whelan T., Stüdli S., McDonald J., Middleton R.H. (2012) Line Point Registration: A Technique for Enhancing Robot Localization in a Soccer Environment. In: Röfer T., Mayer N.M., Savage J., Saranlı U. (eds) RoboCup 2011: Robot Soccer World Cup XV. RoboCup 2011. Lecture Notes in Computer Science, vol 7416. Springer, Berlin, Heidelberg

Abstract

The Standard Platform League (SPL) provides an environment that is essentially static; with the exception of other robots and the audience, the area in which a robot is expected to localise itself is quite favourable. However, a large number of the predefined landmarks in the given world model can be perceived as ambiguous in many scenarios, with the prime example being field line markings. In this paper a technique is presented that implicitly disambiguates these detected field line objects in order to use them for localization purposes.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Thomas Whelan
    • 1
    • 2
  • Sonja Stüdli
    • 1
    • 2
  • John McDonald
    • 1
    • 2
  • Richard H. Middleton
    • 1
    • 2
  1. 1.Department of Computer ScienceNUI MaynoothMaynoothIreland
  2. 2.Hamilton InstituteNUI MaynoothMaynoothIreland

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