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- W2014733022 abstract "The robot localization problem has been studied for decades and the particle filter algorithm has been successfully applied for the localization of wheel-based mobile robots. In this paper, we provide an implementation of the particle filter algorithm for the self-localization of our soccer playing humanoid robots, RO-PE (RObot for Personal Entertainment) VI, which participate in the Humanoid League (kid-size) of RoboCup in the past few years. The localization algorithm enables the robot to localize itself with respect to the soccer field. For our robot platform, there are a few challenges, such as the locomotion system has high variability in achieving the actual displacement; the vision system employs a fish-eye lens which has significant distortion and suffers from the oscillation caused by the locomotion; and limited computational power. In this paper, we propose a series of solutions for all these challenges and show their effectiveness by implementing the algorithm on the physical robots." @default.
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- W2014733022 date "2010-06-01" @default.
- W2014733022 modified "2023-09-23" @default.
- W2014733022 title "Self-localization of humanoid robots with fish-eye lens in a soccer field" @default.
- W2014733022 cites W1890504540 @default.
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- W2014733022 doi "https://doi.org/10.1109/ramech.2010.5513138" @default.
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