Nao localization
From Intelligent Materials and Systems Lab
Overview
We plan to use a particle filter that gets information from our line detection algorithm and from the estimated position change while moving. To estimate the position change, we found a useful function in Aldebaran's API: ALMotionProxy::getRobotPosition().
Position estimation
The position estimation is not perfect and it is not possible to use it to walk "blindly", but it is decent enough for our needs, because we also use information from the camera. Initial tests show that after a few meters of walking, this method usually accumulates to mistakes around 30 centimeters.