A New Omnidirectional Vision Sensor for Monte-Carlo Localization

In this paper, we present a new approach for omnidirectional vision-based self-localization in the RoboCup Middle-Size League. The omnidirectional vision sensor is used as a range finder (like a laser or a sonar) sensitive to colors transitions instead of nearest obstacles. This makes it possible to have a more reach information about the environment, because it is possible to discriminate between different objects painted in different colors. We implemented a Monte-Carlo localization system slightly adapted to this new type of range sensor. The system runs in real time on a low-cost pc. Experiments demonstrated the robustness of the approach. Event if the system was implemented and tested in the RoboCup Middle-Size field, the system could be used in other environments.

• Type: Conference
• Year: 2004
• Where: ROBOCUP
• Authors: Emanuele Menegatti, Alberto Pretto, Enrico Pagello
• Keywords: Omnidirectional Vision Sensor, Omnidirectional Vision-based Self-localization, ROBOCUP 2004, RoboCup Middle-Size League