教師資料查詢 | 類別: 期刊論文 | 教師: 王銀添 Wang Yin-tien (瀏覽個人網頁)

標題:Monocular SLAM for a Small-size Humanoid Robot
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
語言英文
ISSN1560-6686
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
國別中華民國
公開徵稿
出版型式,電子版,紙本
相關連結
Google+ 推薦功能,讓全世界都能看到您的推薦!