This paper evaluates the benefits of modeling the dynamic environment of robot soccer games as a SLAM problem. Moving objects such as other robots and the ball are not only tracked individually, but modeled in a full state and used for localization at the same time. This is described as an implementation of an efficient system capable of running in real time on limited platforms such as the humanoid robot Nao, and the system's benefit is evaluated using real world experiments.
展开▼
