A new omnidirectional vision sensor for monte-carlo localization

Authors:
E. Menegatti;A. Pretto;E. Pagello
Affiliations:
Intelligent Autonomous Systems Laboratory, Department of Information Engineering, The University of Padua, Italy;Intelligent Autonomous Systems Laboratory, Department of Information Engineering, The University of Padua, Italy;Intelligent Autonomous Systems Laboratory, Department of Information Engineering, The University of Padua, Italy
Venue:
RoboCup 2004
Year:
2005

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Abstract

In this paper, we present a new approach for omnidirectional vision-based self-localization in the RoboCup Middle-Size League. The omnidirectional vision sensor is used as a range finder (like a laser or a sonar) sensitive to colors transitions instead of nearest obstacles. This makes it possible to have a more reach information about the environment, because it is possible to discriminate between different objects painted in different colors. We implemented a Monte-Carlo localization system slightly adapted to this new type of range sensor. The system runs in real time on a low-cost pc. Experiments demonstrated the robustness of the approach. Event if the system was implemented and tested in the RoboCup Middle-Size field, the system could be used in other environments.