Line Based Self-localization Method with Omni-vision for Robosot Competition

摘要：

Self-localization is very important and difficult in Robosot competition. In this paper, it describes a self-localization method based on white lines detection with omni-vision for Robosot competition. The first step is white lines detection which are carried out by extracting the points on the line using the brightness variation of the playground; then detect the lines from the points using a new modified Hough transform; finally, judge the belongingness of the lines, calculate the position and angle of robot with the position of the two goals and the lines. Experimentation is provided and shows this method is feasible.

关键词： Self-localization Line detection Hough transform Robosot competition

作者: Zhou Jun Wang Ting-qi Liu Bo Fan Jun-bo

作者单位: College of Mechanical & Electrical Engineering, Hohai University,Changzhou 213022, China College of Mechanical & Electrical Engineering, Hohai University,Changzhou 213022, China,

会议类型: 国际会议

会议名称: 2008 Sino-European Workshop on Intelligent Robots and Systems(SEIROS08)(第一届中欧智能系统及机器人国际学术研讨会)

会议地点: 重庆

会议语种:英文

页码: 1-3

在线出版日期: 2008-12-11（万方平台首次上网日期，不代表论文的发表时间）