| 標題：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 | 英文 |
| 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 | 克羅埃西亞 |
| 公開徵稿 | |
| 出版型式 | 電子版;紙本 |
| 相關連結 | |
