DaiGuardRS - An affordable platform for research into humanoid robotic soccer

The issues related to research into visual simultaneous localization and mapping (Visual SLAM) using the DaiGuarddRS platform are discussed. The research focuses the use of humanoid robots in playing robotic soccer. Robosapiens based humanoid robots are attractive platforms suited for research work in practical computer vision and visual SLAM. The approach to localization and mapping is based on using lines on the playing field as well as optical flow to estimate the ego motion of the robot. The approach calculates the estimated position of the robot based on the feedback for the motion model of the robot and does not rely on additional localization markers.