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  2013, Vol. 26 Issue (1): 57-62    DOI:
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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.
Key wordsSoccer Robot Self-Localization      Odometry      Visual Information     
Received: 14 November 2011     
ZTFLH: TP242.6  
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LIU Zhan
DOU Hao-Bin
LUO Ding-Sheng
Cite this article:   
LIU Zhan,DOU Hao-Bin,LUO Ding-Sheng. Soccer Robot Self-Localization by Combining Odometry and Visual Information[J]. , 2013, 26(1): 57-62.
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http://manu46.magtech.com.cn/Jweb_prai/EN/      OR     http://manu46.magtech.com.cn/Jweb_prai/EN/Y2013/V26/I1/57
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