Visual SLAM and Moving-object Detection for a Small-size Humanoid Robot
學年 98
學期 2
出版（發表）日期 2010-06-01
作品名稱 Visual SLAM and Moving-object Detection for a Small-size Humanoid Robot
作品名稱（其他語言）
著者 Wang, Yin-tien; Lin, Ming-chun; Ju, Rung-chi
單位 淡江大學機械與機電工程學系
出版者 Rijeka: InTech Open Access Publisher
著錄名稱、卷期、頁數 International Journal of Advanced Robotic Systems 7(2), pp.133-138
摘要 In the paper, a novel moving object detection (MOD) algorithm is developed and integrated with robot visual Simultaneous Localization and Mapping (vSLAM). The moving object is assumed to be a rigid body and its coordinate system in space is represented by a position vector and a rotation matrix. The MOD algorithm is composed of detection of image features, initialization of image features, and calculation of object coordinates. Experimentation is implemented on a small-size humanoid robot and the results show that the performance of the proposed algorithm is efficient for robot visual SLAM and moving object detection.
關鍵字 Simultaneous Localization and Mapping (SLAM); Humanoid Robot; Moving Object Detection
語言 en
ISSN 1729-8806 1729-8814
期刊性質 國外
收錄於 SCI EI
產學合作
通訊作者 Wang, Yin-tien
審稿制度
國別 HRV
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/987654321/65414 )

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