Abstract
This paper describes a two-tiered approach to the self-localization problem for soccer playing robots using generic off-the-shelf color cameras. The solution consists of two layers; the top layer is a global search assuming zero knowledge, and the bottom layer is a local search, assuming a relatively good estimation of the position and orientation of the robot. The global search generally yields multiple candidate positions and orientations, which can be tracked, and assigned a confidence level using the local search and/or historic information.
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© 2002 Springer-Verlag Berlin Heidelberg
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de Jong, F., Caarls, J., Bartelds, R., Jonker, P.P. (2002). A Two-Tiered Approach to Self- Localization. In: Birk, A., Coradeschi, S., Tadokoro, S. (eds) RoboCup 2001: Robot Soccer World Cup V. RoboCup 2001. Lecture Notes in Computer Science(), vol 2377. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45603-1_51
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DOI: https://doi.org/10.1007/3-540-45603-1_51
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