Maintaining Multi-Modality through Mixture Tracking
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Multi-cue Localization for Soccer Playing Humanoid Robots
RoboCup 2006: Robot Soccer World Cup X
Indoor Navigation for a Humanoid Robot Using a View Sequence
International Journal of Robotics Research
| Hi-index | 0.00 |
Solving the global localization problem for a humanoid robot in a fully symmetric environment, such as the soccer field of the RoboCup games under the most recent rules, may be a difficult task. It requires to maintain the robot position distribution multi-modality whenever it is necessary, for ensuring that the correct position is among the distribution modes. We describe a three-level approach for handling this problem, where (1) a particle filter is run to implement the Bayes filter and integrate elegantly our probabilistic knowledge about the visual observations and the one on the robot motion, (2) a mode management system maintains explicitly the distribution modes and allows to guarantee the satisfaction of constraints such as unresolved symmetry, and (3) a discrete state machine over the modes is used to determine the most pertinent observation models. We present very promising results of our strategy both in simulated environments and in real configurations.