SUSAN—A New Approach to Low Level Image Processing
International Journal of Computer Vision
Perception-Based Self-Localization Using Fuzzy Locations
RUR '95 Proceedings of the International Workshop on Reasoning with Uncertainty in Robotics
A New and Efficient Algorithm for Detecting the Corners in Digital Images
Proceedings of the 24th DAGM Symposium on Pattern Recognition
Estimating the absolute position of a mobile robot using position probability grids
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
Multirobot object localization: a fuzzy fusion approach
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Real-time landmark modelling for visual-guided walking robots
International Journal of Computer Applications in Technology
Landmark based global self-localization of mobile soccer robots
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part II
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In the RoboCup four-legged league, robots mainly rely on artificial coloured landmarks for localisation. As it was done in other leagues, artificial landmarks will soon be removed as part of the RoboCup push toward playing in more natural environments. Unfortunately, the robots in this league have very unreliable odometry due to poor modeling of legged locomotion and to undetected collisions. This makes the use of robust sensor-based localization a necessity. We present an extension of our previous technique for fuzzy self-localization based on artificial landmarks, by including observations of features that occur naturally in the soccer field. In this paper, we focus on the use of corners between the field lines. We show experimental results obtained using these features together with the two nets. Eventually, our approach should allow us to migrate from landmarks-only to line-only localisation.