Localization for mobile robots using lines

Abstract

This paper describes the localization method used in the 4 Stooges robotic soccer team [J. Baltes, November 1999]. A soccer field is a challenging environment for localization, since it proves new unique landmarks. The methodology described in the paper uses vision feedback from straight lines to determine the motion parameters. These parameters are used both to update the current location estimate as well as actuator model of the robot.