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A probabilistic approach to Hough localization

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3 Author(s)
Iocchi, L. ; Dipartimento di Informatica e Sistemistica, Univ. di Roma La Sapienza, Italy ; Mastrantuono, D. ; Nardi, D.

Autonomous navigation for mobile robots performing complex tasks over long periods of time requires effective and robust self-localization techniques. We describe a probabilistic approach to self-localization that integrates Kalman filtering with map matching based on the Hough transform. Several systematic experiments for evaluating the approach have been performed both on a simulator and on soccer robots embedded in the RoboCup environment.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

Date of Conference:

2001