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| + | ====== An appearance-based visual compass for mobile robots ====== | ||
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| + | defended: 20 december 2006 | ||
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| + | Localization is one of the basic skills of a mobile robot. Much progress has been made in this field over the past years. In particular, the RoboCup competitions have focused their research within robotics on a unified challenge problem, and the yearly rule adaptations aim at increasingly approximating robotic soccer to the real world. | ||
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| + | Until now, most approaches, however, still rely on special sensors (like laser range scanners, preferably used in the RoboCup rescue leagues) or artificial environments (like color-tagged soccer fields, as used by the RoboCup soccer leagues). | ||
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| + | In this thesis, a novel approach is presented that can provide compass information purely based on the visual appearance of a room. A robot using such a visual compass can quickly learn the appearance of previously unknown environments. By the level of resemblance, | ||
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| + | The visual compass algorithm is efficient, scaleable and can therefore work in real-time on almost any contemporary robotic platform. Therefore, the approach has been implemented on the popular Sony entertainment robot Aibo. | ||
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| + | Extensive experiments have validated that the approach works in a vast variety of environments. It has been shown that a visual compass can supply a mobile robot in natural environments with accurate heading estimates. Finally, it is shown in experiments that a robot using multiple compasses is able to estimate its translational pose. | ||
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| + | ====== The Dutch Aibo Team ====== | ||
| + | The Dutch Aibo Team is a collaboration between three universities in the Netherlands. For the RoboCup 2006 competitions, | ||
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| + | ====== Related publications ====== | ||
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