教師資料查詢 | 類別: 會議論文 | 教師: 江正雄 CHIANG JEN-SHIUN (瀏覽個人網頁)

標題:Stereo vision-based self-localization system for RoboCup
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
語言英文
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
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