Please use this identifier to cite or link to this item: http://hdl.handle.net/1822/15261

TitleRobot orientation with histograms on MSL
Author(s)Ribeiro, António Fernando
Lopes, Gil
Pereira, Bruno
Silva, João
Ribeiro, Paulo Rogério de Almeida
Costa, João
Silva, Sérgio
Rodrigues, João
Trigueiros, Paulo
KeywordsRobot orientation
Histogram
Robot localization
Middle size league
Issue date2012
PublisherSpringer
JournalLecture Notes in Computer Science
Abstract(s)One of the most important tasks on robot soccer is localization. The team robots should self-localize on the 18 x 12 meters soccer field. Since a few years ago the soccer field has increased and the corner posts were removed and that increased the localization task complexity. One important aspect to take care for a proper localization is to find out the robot orientation. This paper proposes a new technique to calculate the robot orientation. The proposed method consists of using a histogram of white-green transitions (to detect the lines on the field) to know the robot orientation. This technique does not take much computational time and proves to be very reliable.
TypeBook part
URIhttp://hdl.handle.net/1822/15261
ISBN9783642320590
DOI10.1007/978-3-642-32060-6_43
ISSN0302-9743
Peer-Reviewedyes
AccessOpen access
Appears in Collections:CAlg - Artigos em revistas internacionais/Papers in international journals
DEI - Artigos em revistas internacionais

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