RT info:eu-repo/semantics/article T1 Visual based localization for a Legged Robot A1 Martín Rico, Francisco A1 Matellán Olivera, Vicente A1 González-Careaga, Rafaela A1 Barrera González, Pablo A1 Cañas, José María A2 Arquitectura y Tecnologia de Computadores K1 Informática K1 Localización K1 Liga de robots K1 Robots móviles AB This paper presents a visual based localizationmechanism for a legged robot. Our proposal, fundamentedon a probabilistic approach, uses a precompiled topologicalmap where natural landmarks like doors or ceiling lightsare recognized by the robot using its on-board camera.Experiments have been conducted using the AIBO Sonyrobotic dog showing that it is able to deal with noisy sensorslike vision and to approximate world models representingindoor of ce environments. The two major contributions ofthis work are the use of this technique in legged robots, andthe use of an active camera as the main sensor PB Springer YR 2012 FD 2012-11-13 LK http://hdl.handle.net/10612/2000 UL http://hdl.handle.net/10612/2000 NO Lecture Notes in Computer Science, 2006 NO P. 708-715 DS BULERIA. Repositorio Institucional de la Universidad de León RD 28-mar-2024