期刊論文
| 學年 | 99 |
|---|---|
| 學期 | 2 |
| 出版（發表）日期 | 2011-06-01 |
| 作品名稱 | Monocular SLAM for a Small-size Humanoid Robot |
| 作品名稱（其他語言） | |
| 著者 | Wang, Yin-tien; Hung, Duen-yan; Cheng, Sheng-hsien |
| 單位 | 淡江大學機械與機電工程學系 |
| 出版者 | 新北市：淡江大學 |
| 著錄名稱、卷期、頁數 | Tamkang Journal of Science and Engineering=淡江理工學刊 14(2), pp.123-129 |
| 摘要 | The paper presents a algorithm of visual simultaneous localization and mapping (vSLAM) for a small-size humanoid robot. The algorithm includes the procedures of image feature detection, good feature selection, image depth calculation, and feature state estimation. To ensure robust feature detection and tracking, the procedure is improved by utilizing the method of Speeded Up Robust Features (SURF). Meanwhile, the procedures of image depth calculation and state estimation are integrated in an extended Kalman filter (EKF) based estimation algorithm. All the computation schemes of the visual SLAM are implemented on a small-size humanoid robot with low-cost Window-based PC. Experimentation is performed and the results show that the performance of the proposed algorithm is efficient for robot visual SLAM in the environments. |
| 關鍵字 | |
| 語言 | en |
| ISSN | 1560-6686 |
| 期刊性質 | 國內 |
| 收錄於 | EI |
| 產學合作 | |
| 通訊作者 | Wang, Yin-tien |
| 審稿制度 | 否 |
| 國別 | TWN |
| 公開徵稿 | |
| 出版型式 | ,電子版,紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/55103 ) |