2024-03-28T15:34:26Zhttp://buleria.unileon.es/oai/requestoai:buleria.unileon.es:10612/20002020-12-10T08:57:40Zcom_10612_17col_10612_18
Visual based localization for a Legged Robot
Martín Rico, Francisco
Matellán Olivera, Vicente
González-Careaga, Rafaela
Barrera González, Pablo
Cañas, José María
Arquitectura y Tecnologia de Computadores
Informática
This paper presents a visual based localization
mechanism for a legged robot. Our proposal, fundamented
on a probabilistic approach, uses 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 of ce environments. The two major contributions of
this work are the use of this technique in legged robots, and
the use of an active camera as the main sensor
2012-11-13T09:22:41Z
2012-11-13T09:22:41Z
2012-11-13T09:22:41Z
2012-11-13
info:eu-repo/semantics/article
Lecture Notes in Computer Science, 2006
http://hdl.handle.net/10612/2000
info:eu-repo/semantics/openAccess
Springer