Nao localization with odometry and ar_pose marker tracking

Odometry and the marker on NAO's head are used together for the localization.

NAO uses odometry to have smoother localization comparing to the case when only its head marker is used to localize it. As the error in odometry localization due to NAO's imprecise walking is accumulated over time, the position information obtained by tracking the top head marker is used to correct it periodically.

Implementation is by using the following ROS packages: footstep_planner, ar_pose, map server, tf, NAO stack and usb_cam.

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Robolab, SnT and CsC, University of Luxembourg
Intelligent Systems Group, Utrecht University

• Category

  • Science & Technology

• License

  • Standard YouTube License