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This paper presents a visual based localization mechanism for a legged robot. Our proposal, fundamented on a probabilistic approach, uses 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 ofce environments. The two major contributions of this work are the use of this technique in legged robots, and the use of an active camera as the main sensor

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本书以DirectX SDK 9.0为蓝本，详细介绍了DirectShow的开发流程，并通过一些实例进一步介绍了DirectShow的应用。-This book to DirectX SDK 9.0 is based on details of the development process DirectShow, and introduced a number of further examples of DirectShow applications.

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