A Vision-based Monte Carlo Self-localization System on a Walking Robot
ZHANG Xiao-han1, CHEN Xiao-ping1, LI Jia-ling2, LI Xiang3
1. Department of Computer Science, University of Science and Technology of China, Hefei 230027, China; 2. Department of Electrical and Computer Engineering, Polytechnic University, New York 11201, USA; 3. ZTE Research Center, Nanjing 210012, China
张霄汉, 陈小平, 李嘉玲, 李响. 一种基于视觉的步行机器人Monte Carlo自定位系统[J]. 机器人, 2006, 28(4): 415-421,427..
ZHANG Xiao-han, CHEN Xiao-ping, LI Jia-ling, LI Xiang. A Vision-based Monte Carlo Self-localization System on a Walking Robot. ROBOT, 2006, 28(4): 415-421,427..
Abstract：This paper presents a vision-based localization system on legged robots.Based on Monte Carlo localization,the system makes use of high-noised sensor data of artificial and natural landmarks,along with odometry data without feedback.Special methods to deal with similar natural landmarks and to incorporate information from several landmarks,as well as a new method for weight calculation and particle resampling are presented.Results of experiments on real robots show that the system can adapt to a dynamically uncertain environment,remain accurate and stable under a high noised condition,solve the problem of kidnapped robots,and perform in real-time.
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