Vision-Based Monte Carlo Localization without Measurement: A Qualitative Approach during Update Phase

Danilo H. Perico, Paulo E. Santos, Reinaldo A.C. Bianchi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

This paper presents a qualitative approach for updating the particles used by Monte Carlo Localization (MCL) during a mobile robot localization procedure. The combination between MCL and qualitative data will be called, in this article, Hybrid Localization. The motivation of using qualitative data is to obtain a level of abstraction closer to the human categorization of space and, also, to have a more effective way of interaction between robots and humans. The proposal uses the concept of a qualitative ego sphere, whereby the robot will perceive the world using qualitative relations. As RoboCup Humanoid League offers a challenging domain for robot localization, this environment was used to perform the experiments of this work, where experiments consisted of comparing the robustness of the proposed approach to a traditional vision based MCL model. The results allowed us to conclude that the use of qualitative data can show similar performance when compared to the traditional Vision Based MCL, bringing the advantage of being closer to the way humans reason about space, which can improve the communication between robots, as well as the development of high-level strategies during a game.

Original languageEnglish
Title of host publicationProceedings - 12th LARS Latin American Robotics Symposium and 3rd SBR Brazilian Robotics Symposium, LARS-SBR 2015 - Part of the Robotics Conferences 2015
EditorsRogerio Sales Goncalves, Douglas Guimaraes Macharet, Fernando Santos Osorio, Mario Fernando Montenegro Campos, Joao Carlos Mendes Carvalho
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages216-221
Number of pages6
ISBN (Electronic)9781467371292
DOIs
Publication statusPublished - 11 Feb 2016
Externally publishedYes
Event12th LARS Latin American Robotics Symposium and 3rd SBR Brazilian Robotics Symposium, LARS-SBR 2015 - Uberlandia, Minas Gerais, Brazil
Duration: 29 Oct 201531 Oct 2015

Publication series

NameProceedings - 12th LARS Latin American Robotics Symposium and 3rd SBR Brazilian Robotics Symposium, LARS-SBR 2015 - Part of the Robotics Conferences 2015

Conference

Conference12th LARS Latin American Robotics Symposium and 3rd SBR Brazilian Robotics Symposium, LARS-SBR 2015
Country/TerritoryBrazil
CityUberlandia, Minas Gerais
Period29/10/1531/10/15

Keywords

  • Mobile Robots
  • Monte Carlo Localization
  • Qualitative Spatial Reasoning

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