Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/53790
Título: | Fast computational processing for mobile robots' self-localization |
Autor(es): | Ribeiro, Helder Silva, Pedro Roriz, Ricardo Maia, Tiago Saraiva, Rui Lopes, Gil Ribeiro, A. Fernando |
Palavras-chave: | RoboCup MSL Middle Size League MINHO team Self-Localization Localization |
Data: | 2016 |
Editora: | IEEE |
Revista: | IEEE International Conference on Autonomous Robot Systems and Competitions |
Resumo(s): | This paper intends to present a different approach to solve the Self-Localization problem regarding a RoboCup’s Middle Size League game, developed by MINHO team researchers. The method uses white field markings as key points, to compute the position with least error, creating an error-based graphic where the minimum corresponds to the real position, that are computed by comparing the key (line) points with a precomputed set of values for each position. This approach allows a very fast local and global localization calculation, allowing the global localization to be used more often, while driving the estimate to its real value. Differently from the majority of other teams in this league, it was important to come up with a new and improved method to solve the traditional slow Self-Localization problem. |
Tipo: | Artigo em ata de conferência |
URI: | https://hdl.handle.net/1822/53790 |
ISBN: | 9781509022557 |
DOI: | 10.1109/ICARSC.2016.40 |
ISSN: | 2573-9360 |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: | CAlg - Artigos em revistas internacionais / Papers in international journals |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
---|---|---|---|---|
Fast Computational Processing for Mobile Robots' Self-Localization - camera ready.pdf | 747,61 kB | Adobe PDF | Ver/Abrir |
Este trabalho está licenciado sob uma Licença Creative Commons