Behavior based robot localisation using stereo vision

Accurate robot detection and localisation is fundamental in applications which involve robot navigation. Typical methods for robot detection require a model of a robot. However in most applications the availability of such model can not be warranted. This paper discusses a different approach. A method is presented to localise the robot in a complex and dynamic scene based only on the information that the robot is following a previously specified movement pattern. The advantage of this method lies in the ability to detect differently shaped and differently looking robots as long as they perform the previously defined movement. The method has been successfully tested in an indoor environment.