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Description:
An important problem in the field of robotics is robot localization, letting the robot figure out where it is. In order to build a true autonomous robot we don't want to rely on GPS systems or other external sensors. The only sensors used in this project are an omnidirectional camera, a typical image is shows above, and a sensor to estimate the translation using wheel-encoders. A Particle Filter is then used to fuse these potentially noisy sensorreadings into position estimates.
Links:
Robotlocalization and map building
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