One of the most challenging issue in mobile robot navigation is the localization problem in densely populated environments. In this paper, we present a new approach for vision-based localization able to solve this problem. The omnidirectional camera is used as a range finder sensitive to the distance of color transitions, whereas classical range finders, like lasers or sonars, are sensitive to the distance of the nearest obstacles. The well-known Monte-Carlo localization technique was adapted for this new type of range sensor. The system runs in real time on a low-cost pc. In this paper we present experiments, performed in a crowded RoboCup Middle-size field, proving the robustness of the approach to the occlusions of the vision sensor by moving obstacles (e.g other robots); occlusions that are very likely to occur in a real environment. Although, the system was implemented for the RoboCup environment, the system can be used in more general environments.

Testing omnidirectional vision-based Monte-Carlo localization under occlusion / Menegatti, E; Pretto, Alberto; Pagello, E.. - STAMPA. - 3:(2004), pp. 2487-2493. (Intervento presentato al convegno 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) tenutosi a Sendai; Japan nel 28 September - 02 October 2004).

Testing omnidirectional vision-based Monte-Carlo localization under occlusion

PRETTO, ALBERTO;
2004

Abstract

One of the most challenging issue in mobile robot navigation is the localization problem in densely populated environments. In this paper, we present a new approach for vision-based localization able to solve this problem. The omnidirectional camera is used as a range finder sensitive to the distance of color transitions, whereas classical range finders, like lasers or sonars, are sensitive to the distance of the nearest obstacles. The well-known Monte-Carlo localization technique was adapted for this new type of range sensor. The system runs in real time on a low-cost pc. In this paper we present experiments, performed in a crowded RoboCup Middle-size field, proving the robustness of the approach to the occlusions of the vision sensor by moving obstacles (e.g other robots); occlusions that are very likely to occur in a real environment. Although, the system was implemented for the RoboCup environment, the system can be used in more general environments.
2004
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Engineering (all)
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Testing omnidirectional vision-based Monte-Carlo localization under occlusion / Menegatti, E; Pretto, Alberto; Pagello, E.. - STAMPA. - 3:(2004), pp. 2487-2493. (Intervento presentato al convegno 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) tenutosi a Sendai; Japan nel 28 September - 02 October 2004).
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/951415
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