An omni-vision based self-localization method for soccer robot

An omni vision based new triangulation method for localizing a mobile robot or intelligent vehicle in an environment with landmarks is proposed in this paper. Our vision program can identify some landmarks from the image, then the triangulation method estimates the robot's position and orientation in the environment coordinates, just using the view angle to these landmarks. A RoboCup middle size league soccer robot is chosen to test the algorithm, experimental results are provided.