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Fuzzy self-localization using natural features in the four-legged league
University of Murcia, Spain. (Dept. Information and Communication Engineering)
University of Murcia, Spain. (Dept. Information and Communication Engineering)
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0001-8229-1363
2004 (English)In: RoboCup 2004: Lisbon, Portugal, 2004 / [ed] Daniele Nardi, Martin Riedmiller, Claude Sammut, José Santos-Victor, Springer Berlin/Heidelberg, 2004, p. 110-121Conference paper, Published paper (Refereed)
Abstract [en]

In the RoboCup four-legged league, robots mainly rely on artificial coloured landmarks for localisation. As it was done in other leagues, artificial landmarks will soon be removed as part of the RoboCup push toward playing in more natural environments. Unfortunately, the robots in this league have very unreliable odometry due to poor modeling of legged locomotion and to undetected collisions. This makes the use of robust sensor-based localization a necessity. We present an extension of our previous technique for fuzzy self-localization based on artificial landmarks, by including observations of features that occur naturally in the soccer field. In this paper, we focus on the use of corners between the field lines. We show experimental results obtained using these features together with the two nets. Eventually, our approach should allow us to migrate from landmarks-only to line-only localisation.

Place, publisher, year, edition, pages
Springer Berlin/Heidelberg, 2004. p. 110-121
Series
Lecture notes in computer science ; 3276
Keywords [en]
Autonomous robots, fuzzy logic, image processing, localization, state estimation
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3912DOI: 10.1007/b106671ISBN: 978-3-540-25046-3 (print)OAI: oai:DiVA.org:oru-3912DiVA, id: diva2:138211
Conference
RoboCup 2004: Robot Soccer World Cup VIII, Lisbon, Portugal
Available from: 2007-08-14 Created: 2007-08-14 Last updated: 2018-01-13Bibliographically approved

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Publisher's full texthttp://www.aass.oru.se/Research/Robots/publications.html

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Saffiotti, Alessandro

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf