Fast and Robust Edge-Based Localization in the Sony Four-Legged Robot League
Fast and Robust Edge-Based Localization in the Sony Four-Legged Robot League
复制标题
索尼四足机器人联盟中快速、稳健的基于边缘的定位
DOI：
10.1007/978-3-540-25940-4_23
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
Matthias Jüngel
中科院分区：
文献类型：
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作者：
T. Röfer;Matthias Jüngel
提出了一种RoboCup中基于边缘的快速自定位方法。视觉系统按照基于网格的方法提取场和场线、边界和目标之间的边缘，而无需处理整个图像。这些边缘被用于机器人的自定位。图像处理和自定位都在索尼Aibo上实时工作，即以相机的帧速率工作。以场域边界的激光测距传感器为参照系，对定位方法进行了评估。
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.