n this paper, we present a new approach for omnidirectional vision-based self-localization in the RoboCup Middle-Size League. The omnidirectional vision sensor is used as a range finder (like a laser or a sonar) sensitive to colors transitions instead of nearest obstacles. This makes it possible to have a more reach information about the environment, because it is possible to discriminate between different objects painted in different colors. We implemented a Monte-Carlo localization system slightly adapted to this new type of range sensor. The system runs in real time on a low-cost pc. Experiments demonstrated the robustness of the approach. Event if the system was implemented and tested in the RoboCup Middle-Size field, the system could be used in other environments. © Springer-Verlag Berlin Heidelberg 2005.

A new omnidirectional vision sensor for Monte-Carlo localization / Menegatti, E.; Pretto, Alberto; Pagello, E.. - STAMPA. - 3276:(2005), pp. 97-109. (Intervento presentato al convegno RoboCup 2004 Symposium tenutosi a Lisbon; Portugal).

A new omnidirectional vision sensor for Monte-Carlo localization

PRETTO, ALBERTO;
2005

Abstract

n this paper, we present a new approach for omnidirectional vision-based self-localization in the RoboCup Middle-Size League. The omnidirectional vision sensor is used as a range finder (like a laser or a sonar) sensitive to colors transitions instead of nearest obstacles. This makes it possible to have a more reach information about the environment, because it is possible to discriminate between different objects painted in different colors. We implemented a Monte-Carlo localization system slightly adapted to this new type of range sensor. The system runs in real time on a low-cost pc. Experiments demonstrated the robustness of the approach. Event if the system was implemented and tested in the RoboCup Middle-Size field, the system could be used in other environments. © Springer-Verlag Berlin Heidelberg 2005.
2005
RoboCup 2004 Symposium
Hardware and Architecture
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
A new omnidirectional vision sensor for Monte-Carlo localization / Menegatti, E.; Pretto, Alberto; Pagello, E.. - STAMPA. - 3276:(2005), pp. 97-109. (Intervento presentato al convegno RoboCup 2004 Symposium tenutosi a Lisbon; Portugal).
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/951425
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