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| Soccer Robot Self-Localization by Combining Odometry and Visual Information |
| LIU Zhan,DOU Hao-Bin,LUO Ding-Sheng |
| Key Laboratory of Machine Perception of Ministry of Education,Speech and Hearing Research Center,Peking University,Beijing 100871 |
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Abstract A method is proposed which combines odometry and visual information for robot self-localization in soccer field. The method makes effective use of these two kinds of information by considering their characteristics simultaneously. On the one hand,odometry is used to effectively deal with the ambiguity which is prone to appear in landmark based visual localization. And on the other hand,the disambiguated visual localization results are useful to dynamically correct the accumulative odometry errors which are caused by robot motion. Finally,experiments are conducted on the Webots simulation platform and the results show the effectiveness of the proposed method.
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Received: 14 November 2011
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2013, Vol. 26 
