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Vision based localization of humanoid robots by inverse pose-estimation using a small set of fixed landmark features

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3 Author(s)
Lupian, L.F. ; Mobile Robot. & Automated Syst. Lab., Univ. La Salle, Mexico City, Mexico ; Romay, A. ; Espinola, A.

We propose a vision based methodology to solve the robot localization problem by estimating the pose of the robot's camera with respect to a model of the environment represented by a small set of landmark features. The methodology proposed constructs a regression model based on the pinhole camera projection model by combining the information of several observed features. In this regression model the unknowns are the X and Y coordinates of the location vector of the robot with respect to the environment, and the depths of each of the observed features. We use a RoboCup Humanoid KidSize field as a test bed for experimental validation of this methodology.

Published in:

Robotics Symposium, 2011 IEEE IX Latin American and IEEE Colombian Conference on Automatic Control and Industry Applications (LARC)

Date of Conference:

1-4 Oct. 2011