Self-localization of home robot ApriAttenda™ based on Monte Carlo approach

Authors:
Nafis Ahmad;Jiang Zhu;Hideichi Nakamoto;Nobuto Matsuhira
Affiliations:
Tokyo Institute of Technology, Tokyo, Japan;Tokyo Institute of Technology, Tokyo, Japan;Toshiba Corporations, Kawasaki, Japan;Toshiba Corporations, Kawasaki, Japan
Venue:
PCAR '06 Proceedings of the 2006 international symposium on Practical cognitive agents and robots
Year:
2006

Citing 2
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Abstract

A self-localization technique for home robot is developed for in-door environment. This simple and robust self-localization approach based on Monte Carlo algorithm recovers the robot from catastrophic position tracking failure or kidnapped condition. Position of the robot at different location in the map are determined by using information obtained by laser range finder attached in front of the robot and marker distance measured by stereo vision camera.