Vision-based Monte Carlo localization for RoboCup Humanoid Kid-Size League

摘要

Localization is the most fundamental ability for winning the RoboCup Humanoid League Competition. In this paper, we present a vision-based localization method called Monte Carlo Localization (MCL) to deal with the limited landmarks left in RoboCup, such as the yellow goal posts and field markers. In the beginning, we give brief explanation of perception system. Next, we give detailed implementation of MCL, an improvement of the resampling step that has been develop before, and the process of estimating the localization result. We perform all experiments on our humanoid robot named Zared_v1.0. Results show that the modified resampling technique in MCL give better result in estimating robot position and orientation on normal and kidnapping condition.