A new omnidirectional vision sensor for Monte-Carlo localization

被引:0
|
作者
Menegatti, E [1 ]
Pretto, A
Pagello, E
机构
[1] Univ Padua, Intelligent Autonomous Syst Lab, Dept Informat Engn, Padua, Italy
[2] CNRS, Inst ISIB, Padua, Italy
来源
ROBOCUP 2004: ROBOT SOCCER WORLD CUP VIII | 2005年 / 3276卷
关键词
D O I
暂无
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
In this paper, we present a new approach for onmidirectional vision-based self- localization in the RoboCup Middle-Size League. The onmidirectional 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.
引用
收藏
页码:97 / 109
页数:13
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