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dc.contributor.author | Munera Sánchez, Eduardo | es_ES |
dc.contributor.author | Muñoz Alcobendas, Manuel | es_ES |
dc.contributor.author | Blanes Noguera, Francisco | es_ES |
dc.contributor.author | Benet Gilabert, Ginés | es_ES |
dc.contributor.author | Simó Ten, José Enrique | |
dc.date.accessioned | 2014-10-29T18:44:21Z | |
dc.date.available | 2014-10-29T18:44:21Z | |
dc.date.issued | 2013-11 | |
dc.identifier.issn | 1424-8220 | |
dc.identifier.uri | http://hdl.handle.net/10251/43693 | |
dc.description.abstract | This paper deals with the problem of humanoid robot localization and proposes a new method for position estimation that has been developed for the RoboCup Standard Platform League environment. Firstly, a complete vision system has been implemented in the Nao robot platform that enables the detection of relevant field markers. The detection of field markers provides some estimation of distances for the current robot position. To reduce errors in these distance measurements, extrinsic and intrinsic camera calibration procedures have been developed and described. To validate the localization algorithm, experiments covering many of the typical situations that arise during RoboCup games have been developed: ranging from degradation in position estimation to total loss of position (due to falls, ‘kidnapped robot’, or penalization). The self-localization method developed is based on the classical particle filter algorithm. The main contribution of this work is a new particle selection strategy. Our approach reduces the CPU computing time required for each iteration and so eases the limited resource availability problem that is common in robot platforms such as Nao. The experimental results show the quality of the new algorithm in terms of localization and CPU time consumption. | es_ES |
dc.description.sponsorship | This work has been supported by the Spanish Science and Innovation Ministry (MICINN) under the CICYT project COBAMI: DPI2011-28507-C02-01/02. The responsibility for the content remains with the authors. | en_EN |
dc.language | Inglés | es_ES |
dc.publisher | MDPI | es_ES |
dc.relation.ispartof | Sensors | es_ES |
dc.rights | Reconocimiento (by) | es_ES |
dc.subject | Humanoid robots | es_ES |
dc.subject | Self-localization | es_ES |
dc.subject | Perception system | es_ES |
dc.subject | Particle filter | es_ES |
dc.subject | RoboCup SPL | es_ES |
dc.subject.classification | ARQUITECTURA Y TECNOLOGIA DE COMPUTADORES | es_ES |
dc.title | A reliability-based particle filter for humanoid robot self-localization in Robocup Standard Platform League | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.3390/s131114954 | |
dc.relation.projectID | info:eu-repo/grantAgreement/MICINN//DPI2011-28507-C02-02/ES/SOPORTE DE EJECUCION FIABLE DE SISTEMAS DE CONTROL BASADOS EN MISIONES/ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/MICINN//DPI2011-28507-C02-01/ES/DESARROLLO DE CONTROLADORES BASADOS EN MISIONES/ | es_ES |
dc.rights.accessRights | Abierto | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Departamento de Informática de Sistemas y Computadores - Departament d'Informàtica de Sistemes i Computadors | es_ES |
dc.description.bibliographicCitation | Munera Sánchez, E.; Muñoz Alcobendas, M.; Blanes Noguera, F.; Benet Gilabert, G.; Simó Ten, JE. (2013). A reliability-based particle filter for humanoid robot self-localization in Robocup Standard Platform League. Sensors. 13(11):14954-14983. https://doi.org/10.3390/s131114954 | es_ES |
dc.description.accrualMethod | S | es_ES |
dc.relation.publisherversion | http://dx.doi.org/10.3390/s131114954 | es_ES |
dc.description.upvformatpinicio | 14954 | es_ES |
dc.description.upvformatpfin | 14983 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 13 | es_ES |
dc.description.issue | 11 | es_ES |
dc.relation.senia | 254023 | |
dc.identifier.pmid | 24193098 | en_EN |
dc.identifier.pmcid | PMC3871090 | en_EN |
dc.contributor.funder | Ministerio de Ciencia e Innovación | es_ES |