96 research outputs found
Visual based localization of a legged robot with a topological representation
In this chapter we have presented the performance of a localization method of legged AIBO
robots in not-engineered environments, using vision as an active input sensor. This method
is based on classic markovian approach but it has not been previously used with legged
robots in indoor office environments. We have shown that the robot is able to localize itself
in real time even inenvironments with noise produced by the human activity in a real office.
It deals with uncertainty in its actions and uses perceived natural landmarks of the
environment as the main sensor inpu
Visual based localization for a Legged Robot
P. 708-715This paper presents a visual based localization
mechanism for a legged robot. Our proposal, fundamented
on a probabilistic approach, uses a precompiled topological
map where natural landmarks like doors or ceiling lights
are recognized by the robot using its on-board camera.
Experiments have been conducted using the AIBO Sony
robotic dog showing that it is able to deal with noisy sensors
like vision and to approximate world models representing
indoor of ce environments. The two major contributions of
this work are the use of this technique in legged robots, and
the use of an active camera as the main sensorS
An Hybrid Approach for Robust and Precise Mobile Robot Navigation with Compact Environment Modeling
In this paper a new localization approach combining the metric and topological paradigm is presented. The main idea is to connect local metric maps by means of a global topological map. This allows a compact environment model which does not require global metric consistency and permits both precision and robustness. The method uses a 360 degree laser scanner in order to extract lines for the metric localization and doors, discontinuities and hallways for the topological approach. The approach has been widely tested in a 50 x 25 m portion of the institute building with the new fully autonomous robot Donald Duck. 25 randomly generated test missions have been performed with a success ratio of 96% and a mean error at the goal point of 9 mm for an overall trajectory length of 1.15 km. Future work will focus on a similar hybrid approach for simultaneous localization and automatic mapping
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