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Fast and Robust Edge-Based Localization in the Sony Four-Legged Robot League*
Thomas Röfer1 and Matthias Jüngel2
1Bremer Institut für Sichere Systeme, Technologie-Zentrum Informatik, FB 3, Universität Bremen
roefer@tzi.de
2Institut für Informatik, LFG Künstliche Intelligenz, Humboldt-Universität zu Berlin
juengel@informatik.hu-berlin.de
Abstract. This paper presents a fast approach for edge-based self-localization in RoboCup. The vision system extracts edges between the field and field lines, borders, and goals following a grid-based approach without processing whole images. These edges are employed for the self-localization of the robot. Both image processing and self-localization work in real-time on a Sony Aibo, i. e. at the frame rate of the camera. The localization method was evaluated using a laser range sensor at the field border as a reference system.
*The Deutsche Forschungsgemeinschaft supports this work through the priority program “Cooperating teams of mobile robots in dynamic environments”.
LNAI 3020, p. 262 ff.
lncs@springer.de
© Springer-Verlag Berlin Heidelberg 2004