Collaboration Based Self-localization Algorithm for Humanoid Robot with Embedded Vision System

Abstract

Collaborative self-localization algorithm for humanoid robot is a challenge in practice; here we present a novel self-localization algorithm for collaborated humanoid robots with an embedded vision system. The algorithm is established on an embedded vision system constituted by a DSP DM642 central processor with ethereal controller and an 802.11g WiFi module, which could provide high speed network for large throughput based multiple robots communication. Our self-localization algorithm built up in the embedded vision system analyzes the image information with a speed of ten frames per second (720×480 pixels), and self-localizes by fusing vision information of collaborated robots via WiFi communication. Experimental results on collaboration among multiple humanoid soccer robots are presented to demonstrate the effectiveness of our embedded vision system and self-localization algorithm.

Keywords: Self-localization, humanoid robot, embedded vision, DSP.

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