A Robot Simulation System for Self-Location by Using Field Visual Information

This Paper will introduce methods used to resolve self-location problem of humanoid robots. There are two method that will be mentioned in this paper. A traditional method which uses marks and flags on the soccer field for robot location will be introduced at first. This paper will also discuss how to solve the singularity problem in traditional self-location method. The optimization self-location method which uses sidelines on the soccer field will be introduced at the same time. This paper will introduce how to mapping the field sidelines in vision to the field sidelines of soccer field. This method is implemented and tested in Robocup 3D Soccer Simulation League. The results show that the accuracy of self-location method will be increased by taking full use of soccer field sidelines in vision information.