Visual Tracking and Localization of a Small Domestic Robot
We investigate the application of a Monte Carlo localization filter to the problem of combining local and global observations of a small, off-the-shelf quadruped domestic robot, in a simulated Smart House environment, for the purpose of robust tracking and localization. A Sony Aibo ERS-210A robot forms part of this project, with the ultimate aim of providing additional monitoring, human-system interaction and companionship to the occupants.
KeywordsGround Plane Quadruped Robot Monte Carlo Localization Overhead Camera Domestic Robot
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