Visual Based Localization for a Legged Robot

This paper presents a visual based localization mechanism for a legged robot in indoor office environments. Our proposal is a probabilistic approach which uses partially observable Markov decision processes. We use a precompiled topological map where natural landmarks like doors or ceiling lights are recognized by the robot using its on-board camera. Experiments have been conducted using the AIBO Sony robotic dog showing that it is able to deal with noisy sensors like vision and to approximate world models representing indoor office environments. The major contributions of this work is the use of an active vision as the main input and localization in not-engineered environments.