Self-localization method using two landmarks and dead reckoning for autonomous mobile soccer robots

Abstract

We propose a new method of self-localization using two landmarks and dead reckoning for a soccer robot equipped with an omnidirectional camera as a local vision sensor. This method requires low computational cost. Thanks to rapid process, the system can afford to run multiple localization process in parallel resulting robust and accurate localization. An experimental result in the field of Robocup Middle-size league indicates that the approach is reliable.