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Título
Visual based localization for a Legged Robot
Autor
Facultad/Centro
Área de conocimiento
Cita Bibliográfica
RoboCup Symposium, Julio, 2005, Osaka, Japón
Fecha
2005-07-18
Resumen
This paper presents a visual based localization mechanism
for a legged robot in indoor office environments. Our proposal is a probabilistic approach which uses partially observable Markov decision processes. We use a precompiled topological map where natural landmarks
like doors or ceiling lights are recognized by the robot using its on-board
camera. Experiments have been conducted using the AIBO Sony robotic
dog showing that it is able to deal with noisy sensors like vision and to
approximate world models representing indoor office environments. The
major contributions of this work is the use of an active vision as the main
input and localization in not-engineered environments
Materia
Palabras clave
Subtipo documental
info:eu-repo/semantics/lecture
URI
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