Line-based landmark recognition for self-localization of soccer robots
This paperl describes visual landmark extraction for self localization of an auitonomolus mobile robot in at wellknown dynamic environment. The gradient based Hough transform provides the strongest groupings ofcollineair pixels having roughly the same edge orientcation. Grouips of pixels are then processed to calcuilate length and end points of line segments, which together with the length anid direction of the normcal completes the description of the line segmnents. This is followed by classification offield markinigs which are bright lines and aircs on a dark background forming double edges of opposite gradient. Corners, junctions and line intersections are determined by the interpretation of detected line segments. Simulation results illustrate the performance of the method u(sing both real and sYnthetic