Fast, accurate, and robust self-localization in polygonal environments

摘要

Self-localization is important in almost all robotic tasks. For playing an aesthetic and effective game of robotic soccer, self-localization is a necessary prerequisite. When we designed our robotic soccer team for RoboCup'98, it turned out that all existing approaches did not meet our requirements of being fast, accurate, and robust. For this reason, we developed a new method, which is presented and analyzed in the paper We additionally present experimental evidence that our method outperforms other methods in the RoboCup environment.