Just started with the topic of mobile robotics.. so I'm still into concept making and little programming, but have not setup everything or tested at all. I got a (differential) mobile robot (lego mindstorm) and a external camera mounted on the ceiling of my testarea, looking top down. Robot is equipped with a bumper for collision detection and ultrasonic sensor. Area has some static obstacles (3-4) in it and there should be another lego robot moving around as dynamic obstacle. No markers or colors on the ground.
I plan to do a camera self-calibration taking odometry data and tracking the position of the robot by template matching. Creating the map get's done by image processing, with edge filtering and later converting to a gridmap. So next for localization: While I get more and more into all the subjects I ask myself how to do the localization in the best manner and still as collaboraive system. Is it possible or even clever to use a particle filter out of robot sensor data? Or is my localization given, just by my template matching and image position extracting? The problem I see comes with the second robot, which will get the localization very complex.
Another Question is, how can I achieve an iterative map update? - The map should react on happenings, like the moving robot (dynamic).
I was reading about layering the occupancy/grid maps and update the master map. So combining it with A* Path Planning should make it dynamic I guess?
Thanks and best regards