Calculating the perfect match: an efficient and accurate approach for robot self-localization

Authors:
Martin Lauer;Sascha Lange;Martin Riedmiller
Affiliations:
Institute of Cognitive Science and, Institute of Computer Science, University of Osnabrück, Osnabrück, Germany;Institute of Cognitive Science and, Institute of Computer Science, University of Osnabrück, Osnabrück, Germany;Institute of Cognitive Science and, Institute of Computer Science, University of Osnabrück, Osnabrück, Germany
Venue:
RoboCup 2005
Year:
2006

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Abstract

The paper develops a new approach for robot self-localization in the Robocup Midsize league. The approach is based on modeling the quality of an estimate using an error term and numerically minimizing it. Furthermore, we derive the reliability of the estimate analyzing the error function and apply the derived uncertainty value to a sensor integration process. The approach is characterized by high precision, robustness and computational efficiency.