1. Visual based localization for a Legged Robot
- Author
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Martín Rico, Francisco, Matellán Olivera, Vicente, González-Careaga, Rafaela, Barrera González, Pablo, Cañas, José María, Arquitectura y Tecnologia de Computadores, and Escuela de Ingenierias Industrial e Informatica
- Subjects
Informática ,Localización ,Robots móviles ,Liga de robots - Abstract
P. 708-715 This paper presents a visual based localization mechanism for a legged robot. Our proposal, fundamented on a probabilistic approach, uses a precompiled topological map where natural landmarks like doors or ceiling lights are recognized by the robot using its on-board camera. Experiments have been conducted using the AIBO Sony robotic dog showing that it is able to deal with noisy sensors like vision and to approximate world models representing indoor of ce environments. The two major contributions of this work are the use of this technique in legged robots, and the use of an active camera as the main sensor SI
- Published
- 2012