會議論文
| 學年 | 99 |
|---|---|
| 學期 | 1 |
| 發表日期 | 2011-06-27 |
| 作品名稱 | Stereo vision-based self-localization system for RoboCup |
| 作品名稱（其他語言） | |
| 著者 | Chiang, Jen-Shiun; Hsia, Chih-Hsien; Hsu, Hung-Wei; Li, Chun-I |
| 作品所屬單位 | 淡江大學電機工程學系 |
| 出版者 | New York: Institute of Electrical and Electronics Engineers (IEEE) |
| 會議名稱 | Fuzzy Systems (FUZZ), 2011 IEEE International Conference on |
| 會議地點 | |
| 摘要 | This work proposes a new Stereo Vision-Based Self-Localization System (SVBSLS) for the RoboCup soccer humanoid league rules for the 2010 competition. The humanoid robot integrates the information from the pan/tilt motors and stereo vision to accomplish the self-localization and measure the distance of the robot and the soccer ball. The proposed approach uses the trigonometric function to find the coarse distances from the robot to the landmark and the robot to the soccer ball, and then it further adopts the artificial neural network technique to increase the precision of the distance. The statistics approach is also used to calculate the relationship between the humanoid robot and the position of the landmark for self-localization. The experimental results indicate that the localization system of SVBSLS in this research work has 100% average accuracy ratio for localization. The average error of distance from the humanoid soccer robot to the soccer ball is only 0.64 cm. |
| 關鍵字 | Back propagation neural network;Robo Cup 2010;humanoid robot;self-localization;stereo vision |
| 語言 | en |
| 收錄於 | |
| 會議性質 | |
| 校內研討會地點 | |
| 研討會時間 | 20110627~20110630 |
| 通訊作者 | |
| 國別 | |
| 公開徵稿 | |
| 出版型式 | |
| 出處 | Fuzzy Systems (FUZZ), 2011 IEEE International Conference on, pp.2763-2770 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/80816 ) |