Gonçalves, JoséLima, JoséCosta, Paulo Gomes da2010-02-122010-02-122008Gonçalves, José; Lima, José; Costa, Paulo (2008). Real-time localization of an omnidirectional mobile robot resorting to odometry and global vision data fusion: an EKF approach. In IEEE International Symposium on Industrial Electronics. Cambridge. p.1275-1280. ISBN 978-1-4244-1665-3978-1-4244-1665-3http://hdl.handle.net/10198/1899This paper describes a robust localization system, similar to the used by the teams participating in the Robocup Small size league (SSL). The system, developed in Object Pascal, allows real-time localization and control of an autonomous omnidirectional mobile robot. The localization algorithm is done resorting to odometry and global vision data fusion, applying an extended Kalman filter.engControlRoboticsconference paper