Please use this identifier to cite or link to this item:
|Title:||Self-localization of humanoid robots with fish-eye lens in a soccer field|
|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|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Dec 13, 2017
checked on Dec 16, 2017
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.