A Two-Tiered Approach to Self-Localization

Conference paper (2002)

Authors

F de Jong ImPhys/Quantitative Imaging
J Caarls ImPhys/Quantitative Imaging
R Bartelds External organisation
P.P. Jonker ImPhys/Quantitative Imaging
Research Group
ImPhys/Quantitative Imaging
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Published Date

2002

Language

Undefined/Unknown

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Research Group

ImPhys/Quantitative Imaging

Abstract

Abstract. This paper describes a two-tiered approach to the self-localization problem for soccer playing robots using generic o¿-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 con¿dence level using the local search and/or historic information.