A Two-Tiered Approach to Self-Localization

F de Jong, J Caarls, R Bartelds, PP Jonker

    Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

    11 Citations (Scopus)


    Abstract. This paper describes a two-tiered approach to the self-localization problem for soccer playing robots using generic o¿-the-shelf color cameras. The solution consists of two layers; the top layer is a global search assuming zero knowledge, and the bottom layer is a local search, assuming a relatively good estimation of the position and orientation of the robot. The global search generally yields multiple candidate positions and orientations, which can be tracked, and assigned a con¿dence level using the local search and/or historic information.
    Original languageUndefined/Unknown
    Title of host publicationRobocup 2001: Robot Soccer World Cup V
    EditorsA. Birk, S. Coradeschi, S. Tadokoro
    Place of PublicationBerlin
    PublisherSpringer Science
    Number of pages6
    ISBN (Print)3-540-43912-9
    Publication statusPublished - 2002
    EventInt. Symposium (Seattle, USA) - Berlin
    Duration: 2 Aug 200210 Aug 2002

    Publication series

    PublisherSpringer Verlag
    NameLecture Notes in Computer Science
    ISSN (Print)0302-9743


    ConferenceInt. Symposium (Seattle, USA)

    Bibliographical note

    ISSN 0302-9743, phpub 86


    • conference contrib. refereed
    • ZX CWTS JFIS < 1.00

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