Symmetric environments pose a potential risk to mobile robots in estimating their pose correctly, especially after a global localization procedure or displacement by an external force (i.e. a kidnapped robot situation). This work presents a system for mobile robots which minimizes the risk of an incorrect pose estimate by using a novel room-awareness module. The module which mimics a human-like belief in the current pose and triggers a so-called spontaneous reorientation in order to solve pose ambiguities in rotationally symmetric environments.<br />Unlike classical approaches, the robot is able to use the symmetric properties of an environment to, firstly, detect an incorrect pose estimate, and, secondly, to maintain local pose information after the system has detected an incorrect pose.<br />This is possible because the room-awareness module evaluates the current pose, independent of the robot's self-localization module, based on an online trained model of the visual background which is composed of a spatial colour-histograms features.<br />The evaluation result is fed into the robot's behaviour controller, which uses a novel interface for the robot's particle-filter-based self-localization to selectively move particle clusters between pose ambiguities in rotationally symmetric environments.<br />In addition, the room-awareness module is able to directly support the self-localization module by involving the visual background in particle generation in order to prevent particle injection on pose ambiguities.<br />Tests on a humanoid robot within simulated and real RoboCup Standard Platform League environments demonstrate, on the one hand, the specific challenges to self-localization which generally occur in other robotic set-ups, and on the other hand, the performance gain in pose estimation resulting from the approach presented here.
en
dc.language
English
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dc.language.iso
en
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dc.rights.uri
http://rightsstatements.org/vocab/InC/1.0/
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dc.subject
Mobile Robotik
de
dc.subject
Roboter
de
dc.subject
Selbstlokalisierung
de
dc.subject
Bildverarbeitung
de
dc.subject
RoboCup
de
dc.subject
Visuelle Raumwahrnehmung
de
dc.subject
Partikelfilter
de
dc.subject
Mobile Robotic
en
dc.subject
Self-localization
en
dc.subject
computer vision
en
dc.subject
RoboCup
en
dc.subject
Visual Room-Awareness
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dc.subject
particle filter
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dc.title
Spontaneous reorientation guided by visual room-awareness
en
dc.type
Thesis
en
dc.type
Hochschulschrift
de
dc.rights.license
In Copyright
en
dc.rights.license
Urheberrechtsschutz
de
dc.contributor.affiliation
TU Wien, Österreich
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dc.rights.holder
Markus Bader
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tuw.version
vor
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tuw.thesisinformation
Technische Universität Wien
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dc.contributor.assistant
Blanes Noguera, Juan Francisco
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tuw.publication.orgunit
E376 - Institut für Automatisierungs- und Regelungstechnik