| Self-Localization of a Small-Size Humanoid Soccer Robot Based on Natural Image Features | |
|---|---|
| 學年 | 97 |
| 學期 | 1 |
| 發表日期 | 2008-11-21 |
| 作品名稱 | Self-Localization of a Small-Size Humanoid Soccer Robot Based on Natural Image Features |
| 作品名稱（其他語言） | |
| 著者 | Wang, Jen-Wei; Chang, Che-Ming; Hung, Duen-Yan; Chen, Yu-Cheng; Wang, Yin-Tien |
| 作品所屬單位 | 淡江大學機械與機電工程學系 |
| 出版者 | |
| 會議名稱 | 2008 CACS International Automatic Control Conference |
| 會議地點 | 臺南, 臺灣 |
| 摘要 | In this paper, an EKF-based robot self-localization is developed for a small-size humanoid robot navigating in environments with natural features. A novel algorithm for feature initialization is proposed for the EKF localization algorithm: the beacon positions are firstly obtained by extracting natural and apparent features from the image taken by a monocular vision. Then the "bad" feature points are detected and abandoned before they are chosen to be a reference beacon. Meanwhile, each obstacle in the environment is detected by gathering together a set of nearby features. A regional feature detection method is also employed to detect the obstacle for comparison. The developed algorithm is implemented on a PC-based controller for a small-size humanoid robot which has dimension of 40cm in height and 3kg in weight. Experimental results show that the proposed self-localization and obstacle detection algorithms have good performance for the humanoid robot navigating in the environment with natural features. |
| 關鍵字 | Self-localization;Soccer robot;Feature detection;Feature tracking |
| 語言 | en |
| 收錄於 | |
| 會議性質 | 國際 |
| 校內研討會地點 | |
| 研討會時間 | 20081121~20081123 |
| 通訊作者 | |
| 國別 | TWN |
| 公開徵稿 | Y |
| 出版型式 | 紙本 |
| 出處 | Proceedings of the 2008 CACS International Automatic Control Conference，6p. |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/96435 ) |
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