A reliability-based particle filter for humanoid robot self-localization in Robocup Standard Platform League

This paper deals with the problem of humanoid robot localization and proposes a new method for position estimation that has been developed for the RoboCup Standard Platform League environment. Firstly, a complete vision system has been implemented in the Nao robot platform that enables the detection...

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Autores: Munera Sánchez, Eduardo, Muñoz Alcobendas, Manuel, Blanes Noguera, Francisco|||0000-0002-9234-5377, Benet Gilabert, Ginés|||0000-0003-3856-5501, Simó Ten, José Enrique|||0000-0003-4677-7627
Tipo de recurso: artículo
Fecha de publicación:2013
País:España
Institución:Universitat Politècnica de València (UPV)
Repositorio:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
Idioma:inglés
OAI Identifier:oai:riunet.upv.es:10251/43693
Acceso en línea:https://riunet.upv.es/handle/10251/43693
Access Level:acceso abierto
Palabra clave:Humanoid robots
Self-localization
Perception system
Particle filter
RoboCup SPL
ARQUITECTURA Y TECNOLOGIA DE COMPUTADORES
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repository_id_str
spelling A reliability-based particle filter for humanoid robot self-localization in Robocup Standard Platform LeagueMunera Sánchez, EduardoMuñoz Alcobendas, ManuelBlanes Noguera, Francisco|||0000-0002-9234-5377Benet Gilabert, Ginés|||0000-0003-3856-5501Simó Ten, José Enrique|||0000-0003-4677-7627Humanoid robotsSelf-localizationPerception systemParticle filterRoboCup SPLARQUITECTURA Y TECNOLOGIA DE COMPUTADORESThis paper deals with the problem of humanoid robot localization and proposes a new method for position estimation that has been developed for the RoboCup Standard Platform League environment. Firstly, a complete vision system has been implemented in the Nao robot platform that enables the detection of relevant field markers. The detection of field markers provides some estimation of distances for the current robot position. To reduce errors in these distance measurements, extrinsic and intrinsic camera calibration procedures have been developed and described. To validate the localization algorithm, experiments covering many of the typical situations that arise during RoboCup games have been developed: ranging from degradation in position estimation to total loss of position (due to falls, ‘kidnapped robot’, or penalization). The self-localization method developed is based on the classical particle filter algorithm. The main contribution of this work is a new particle selection strategy. Our approach reduces the CPU computing time required for each iteration and so eases the limited resource availability problem that is common in robot platforms such as Nao. The experimental results show the quality of the new algorithm in terms of localization and CPU time consumption.This work has been supported by the Spanish Science and Innovation Ministry (MICINN) under the CICYT project COBAMI: DPI2011-28507-C02-01/02. The responsibility for the content remains with the authors.MDPIDepartamento de Informática de Sistemas y ComputadoresInstituto Universitario de Automática e Informática IndustrialEscuela Técnica Superior de Ingeniería InformáticaMinisterio de Ciencia e InnovaciónRepositorio Institucional de la Universitat Politècnica de València Riunet20132013-11-01journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://riunet.upv.es/handle/10251/43693reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)InglésengMinisterio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2011-28507-C02-02 SOPORTE DE EJECUCION FIABLE DE SISTEMAS DE CONTROL BASADOS EN MISIONESMinisterio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2011-28507-C02-01 DESARROLLO DE CONTROLADORES BASADOS EN MISIONESopen accesshttp://purl.org/coar/access_right/c_abf2Reconocimiento (by)http://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessoai:riunet.upv.es:10251/436932026-06-13T07:49:27Z
dc.title.none.fl_str_mv A reliability-based particle filter for humanoid robot self-localization in Robocup Standard Platform League
title A reliability-based particle filter for humanoid robot self-localization in Robocup Standard Platform League
spellingShingle A reliability-based particle filter for humanoid robot self-localization in Robocup Standard Platform League
Munera Sánchez, Eduardo
Humanoid robots
Self-localization
Perception system
Particle filter
RoboCup SPL
ARQUITECTURA Y TECNOLOGIA DE COMPUTADORES
title_short A reliability-based particle filter for humanoid robot self-localization in Robocup Standard Platform League
title_full A reliability-based particle filter for humanoid robot self-localization in Robocup Standard Platform League
title_fullStr A reliability-based particle filter for humanoid robot self-localization in Robocup Standard Platform League
title_full_unstemmed A reliability-based particle filter for humanoid robot self-localization in Robocup Standard Platform League
title_sort A reliability-based particle filter for humanoid robot self-localization in Robocup Standard Platform League
dc.creator.none.fl_str_mv Munera Sánchez, Eduardo
Muñoz Alcobendas, Manuel
Blanes Noguera, Francisco|||0000-0002-9234-5377
Benet Gilabert, Ginés|||0000-0003-3856-5501
Simó Ten, José Enrique|||0000-0003-4677-7627
author Munera Sánchez, Eduardo
author_facet Munera Sánchez, Eduardo
Muñoz Alcobendas, Manuel
Blanes Noguera, Francisco|||0000-0002-9234-5377
Benet Gilabert, Ginés|||0000-0003-3856-5501
Simó Ten, José Enrique|||0000-0003-4677-7627
author_role author
author2 Muñoz Alcobendas, Manuel
Blanes Noguera, Francisco|||0000-0002-9234-5377
Benet Gilabert, Ginés|||0000-0003-3856-5501
Simó Ten, José Enrique|||0000-0003-4677-7627
author2_role author
author
author
author
dc.contributor.none.fl_str_mv Departamento de Informática de Sistemas y Computadores
Instituto Universitario de Automática e Informática Industrial
Escuela Técnica Superior de Ingeniería Informática
Ministerio de Ciencia e Innovación
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Humanoid robots
Self-localization
Perception system
Particle filter
RoboCup SPL
ARQUITECTURA Y TECNOLOGIA DE COMPUTADORES
topic Humanoid robots
Self-localization
Perception system
Particle filter
RoboCup SPL
ARQUITECTURA Y TECNOLOGIA DE COMPUTADORES
description This paper deals with the problem of humanoid robot localization and proposes a new method for position estimation that has been developed for the RoboCup Standard Platform League environment. Firstly, a complete vision system has been implemented in the Nao robot platform that enables the detection of relevant field markers. The detection of field markers provides some estimation of distances for the current robot position. To reduce errors in these distance measurements, extrinsic and intrinsic camera calibration procedures have been developed and described. To validate the localization algorithm, experiments covering many of the typical situations that arise during RoboCup games have been developed: ranging from degradation in position estimation to total loss of position (due to falls, ‘kidnapped robot’, or penalization). The self-localization method developed is based on the classical particle filter algorithm. The main contribution of this work is a new particle selection strategy. Our approach reduces the CPU computing time required for each iteration and so eases the limited resource availability problem that is common in robot platforms such as Nao. The experimental results show the quality of the new algorithm in terms of localization and CPU time consumption.
publishDate 2013
dc.date.none.fl_str_mv 2013
2013-11-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/43693
url https://riunet.upv.es/handle/10251/43693
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Ministerio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2011-28507-C02-02 SOPORTE DE EJECUCION FIABLE DE SISTEMAS DE CONTROL BASADOS EN MISIONES
Ministerio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2011-28507-C02-01 DESARROLLO DE CONTROLADORES BASADOS EN MISIONES
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reconocimiento (by)
http://creativecommons.org/licenses/by/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reconocimiento (by)
http://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.300724

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