Line point registration: a technique for enhancing robot localization in a soccer environment

Authors:
Thomas Whelan;Sonja Stüdli;John McDonald;Richard H. Middleton
Affiliations:
Department of Computer Science, NUI Maynooth, Maynooth, Co. Kildare, Ireland and Hamilton Institute, NUI Maynooth, Maynooth, Co. Kildare, Ireland;Department of Computer Science, NUI Maynooth, Maynooth, Co. Kildare, Ireland and Hamilton Institute, NUI Maynooth, Maynooth, Co. Kildare, Ireland;Department of Computer Science, NUI Maynooth, Maynooth, Co. Kildare, Ireland and Hamilton Institute, NUI Maynooth, Maynooth, Co. Kildare, Ireland;Department of Computer Science, NUI Maynooth, Maynooth, Co. Kildare, Ireland and Hamilton Institute, NUI Maynooth, Maynooth, Co. Kildare, Ireland
Venue:
Robot Soccer World Cup XV
Year:
2012

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Abstract

The Standard Platform League (SPL) provides an environment that is essentially static; with the exception of other robots and the audience, the area in which a robot is expected to localise itself is quite favourable. However, a large number of the predefined landmarks in the given world model can be perceived as ambiguous in many scenarios, with the prime example being field line markings. In this paper a technique is presented that implicitly disambiguates these detected field line objects in order to use them for localization purposes.