RT info:eu-repo/semantics/conferenceObject
T1 Visual based localization for a Legged Robot
A1 Martín Rico, Francisco
A1 Matellán Olivera, Vicente
A1 Cañas, José María
A1 Barrera González, Pablo
A2 Arquitectura y Tecnologia de Computadores
K1 Informática
K1 Localización
K1 Liga de robots
K1 Robots móviles
AB This paper presents a visual based localization mechanismfor 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 landmarkslike doors or ceiling lights are recognized by the robot using its on-boardcamera. Experiments have been conducted using the AIBO Sony roboticdog showing that it is able to deal with noisy sensors like vision and toapproximate world models representing indoor office environments. Themajor contributions of this work is the use of an active vision as the maininput and localization in not-engineered environments
YR 2012
FD 2012-11-13
LK http://hdl.handle.net/10612/2007
UL http://hdl.handle.net/10612/2007
NO RoboCup Symposium, Julio, 2005, Osaka, Japón
DS BULERIA. Repositorio Institucional de la Universidad de León
RD 19-abr-2024