Active Sound Localization in a Symmetric Environment | Zendy

Ján Brindza | Zendy; Ashleigh Thomas | Zendy; Spencer Lee | Zendy; W. McDermid | Zendy; Yizheng He | Zendy; Daniel D. Lee | Zendy

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Active Sound Localization in a Symmetric Environment

Author(s) -

Ján Brindza,

Ashleigh Thomas,

Spencer Lee,

W. McDermid,

Yizheng He,

Daniel D. Lee

Publication year - 2013

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/56574

Subject(s) - computer science , humanoid robot , landmark , robot , particle filter , orientation (vector space) , computer vision , sound (geography) , artificial intelligence , league , filter (signal processing) , acoustics , mathematics , physics , geometry , astronomy

Localization for humanoid robots becomes difficult when events that disrupt robot positioning information occur. This holds especially true in symmetric environments because landmark data may not be sufficient to determine orientation. We propose a system of localizing humanoid robots in a known, symmetric environment using a Rao-Blackwellized particle filter and a sound localization system. This system was used in the RoboCup Standard Platform League, and has been found to reduce the amount of own-goals scored as compared with the previously used localization system without sound

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