Visual tracking and localization of a small domestic robot

Authors:
Raymond Sheh;Geoff West
Affiliations:
Department of Computing, Curtin University of Technology, Perth, WA, Australia;Department of Computing, Curtin University of Technology, Perth, WA, Australia
Venue:
RoboCup 2004
Year:
2005

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Abstract

We investigate the application of a Monte Carlo localization filter to the problem of combining local and global observations of a small, off-the-shelf quadruped domestic robot, in a simulated Smart House environment, for the purpose of robust tracking and localization. A Sony Aibo ERS-210A robot forms part of this project, with the ultimate aim of providing additional monitoring, human-system interaction and companionship to the occupants.