Basic Study of Self-Localization Method for Middle Size League

Abstract

In the field of RoboCup Middle Size League, self-localization is important to estimate own position including goal and robot positions and decide strategy. The self-localization method uses the internal information, such as revolution counted by encoder and direction detected by electric compass, and surround information such as camera image. In this paper, we construct basic self-localization method, and verify it in RoboCup soccer field.