| Title: | OS12-4 Improvement of Robot's Self-localization by Using Observer View Positional Information |
|---|---|
| Publication: | ICAROB2017 |
| Volume: | 22 |
| Pages: | 662-665 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2017.OS12-4 |
| Author(s): | Yo Aizawa, Takuo Suzuki, Kunikazu Kobayashi |
| Publication Date: | January 19, 2017 |
| Keywords: | Self-localization, Perspective image, Image processing, Homography, RoboCup |
| Abstract: | This study aimed to improve the precision of the robot's self-localization in the standard platform league of RoboCup, i.e. a robotic soccer competition. For improving the precision of the self-localization, we suggest a new technique that uses a camera out of the field for assistance. Robots in the field use the unscented particle filter that estimates their position from landmark. When a robot which is equipped with the filter cannot recognize landmarks exactly, particles spread and the precision of the self-localization decreases. Therefore, the overlooking camera out of the field observes each robot's position. When particles spread, the camera out of the field estimates the foot of a robot, and then the robot sprinkles particles on the neighborhood again. In this way, even if a robot cannot recognize landmarks exactly, assists of camera out of the field revise the position of particles and improve the precision. |
| PDF File: | https://alife-robotics.co.jp/members2017/icarob/data/html/data/OS_pdf/OS12/OS12-4.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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