Please use this identifier to cite or link to this item: https://doi.org/10.1109/RAMECH.2010.5513138
Title: Self-localization of humanoid robots with fish-eye lens in a soccer field
Authors: Tian, B.
Ng, C.-L.
Chew, C.-M. 
Keywords: Biped
Humanoid robot
Localization
Particle filter
Issue Date: 2010
Source: Tian, B.,Ng, C.-L.,Chew, C.-M. (2010). Self-localization of humanoid robots with fish-eye lens in a soccer field. 2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010 : 522-527. ScholarBank@NUS Repository. https://doi.org/10.1109/RAMECH.2010.5513138
Abstract: The robot localization problem has been studied for decades and the particle filter algorithm has been successfully applied for the localization of wheel-based mobile robots. In this paper, we provide an implementation of the particle filter algorithm for the self-localization of our soccer playing humanoid robots, RO-PE (RObot for Personal Entertainment) VI, which participate in the Humanoid League (kid-size) of RoboCup in the past few years. The localization algorithm enables the robot to localize itself with respect to the soccer field. For our robot platform, there are a few challenges, such as the locomotion system has high variability in achieving the actual displacement; the vision system employs a fish-eye lens which has significant distortion and suffers from the oscillation caused by the locomotion; and limited computational power. In this paper, we propose a series of solutions for all these challenges and show their effectiveness by implementing the algorithm on the physical robots. ©2010 IEEE.
Source Title: 2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010
URI: http://scholarbank.nus.edu.sg/handle/10635/73833
ISBN: 9781424465033
DOI: 10.1109/RAMECH.2010.5513138
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