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A Method for Localization by Integration of Imprecise Vision and a Field Model

  • Kazunori Terada
  • Kouji Mochizuki
  • Atsushi Ueno
  • Hideaki Takeda
  • Toyoaki Nishida
  • Takayuki Nakamura
  • Akihiro Ebina
  • Hiromitsu Fujiwara
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1856)

Abstract

In recent years, many researchers in AI and Robotics pay attention to RoboCup, because robotic soccer games needs various techniques in AI and Robotics, such as navigation, behavior generation, localization and environment recognition. Localization is one of the important issues for RoboCup. In this paper, we propose a method of robot’s localization by integrating vision and modeling of the environment. The environment model that realizes the robotic soccer filed in the computer can produce an image of robot’s view at any location. In the environment model, the system can search and appropriate location of which view image is similar to the view image by the real robot. Our robot can estimate location from goal’s height and aspect ratio on the camera image. We search the most suitable position with hill-climbing algorithm from the estimated location. We programmed this method, and tested validity. The error range is reduced from lm∼50cm by robot’s estimation from 40cm∼20cm by this method. This method is superior to the other methods using dead reckoning or range sensor with map because it does not depend on the field size on precision, and does not need walls as landmark.

Keywords

Mobile Robot Dead Reckoning Vision Module Mobile Robot Navigation Gray Pixel 
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 2000

Authors and Affiliations

  • Kazunori Terada
    • 1
  • Kouji Mochizuki
    • 1
  • Atsushi Ueno
    • 1
  • Hideaki Takeda
    • 1
  • Toyoaki Nishida
    • 2
  • Takayuki Nakamura
    • 1
  • Akihiro Ebina
    • 1
  • Hiromitsu Fujiwara
    • 1
  1. 1.Graduate School of Information ScienceNara Institute of Science and TechnologyNaraJapan
  2. 2.Department of Information and Communication Engineering School of EngineeringThe University of TokyoTokyoJapan

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