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Practical Extensions to Vision- Based Monte Carlo Localization Methods for Robot Soccer Domain Kemal Kaplan, Buluç Çelik, Tekin Meriçli, Çetin Meriçli.

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Presentation on theme: "Practical Extensions to Vision- Based Monte Carlo Localization Methods for Robot Soccer Domain Kemal Kaplan, Buluç Çelik, Tekin Meriçli, Çetin Meriçli."— Presentation transcript:

1 Practical Extensions to Vision- Based Monte Carlo Localization Methods for Robot Soccer Domain Kemal Kaplan, Buluç Çelik, Tekin Meriçli, Çetin Meriçli ve H. Levent Akın Boğaziçi University, 2005

2 Basic Monte Carlo Localization 1.Quantize Environment 2.Initialize beliefs 3.Update beliefs 4.Resample 5.Mutate particles

3 Vision Based MCL •Use information from vision to update particles

4 Robocup Field Setup

5 Considering Number of Percepts Seen •One landmark with 0.75 confidence vs 4 landmarks with 0.9 confidence 0.9 x 0.9 x 0.9 x 0.9 = < 0.75 !!! •Proposed correction

6 Using Inter-Percept Distance

7 Using Inter-Percept Distance (II)

8 Using Inter-Percept Distance (III)

9 Variable-Size Number of Particles

10 Dynamic Window Size

11 Results

12 Reults (II)

13 Questions?


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