Self-Localization Based on Monocular Vision for Humanoid Robot
學年 100
學期 1
出版（發表）日期 2011-12-01
作品名稱 Self-Localization Based on Monocular Vision for Humanoid Robot
作品名稱（其他語言）
著者 Chang, Shih-Hung; Hsia, Chih-Hsien; Chang, Wei-Hsuan; Chiang, Jen-Shiun
單位 淡江大學電機工程學系
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(4), pp.323-332
摘要 Robot soccer game is one of the significant and interesting areas among most of the autonomous robotic researches. Following the humanoid soccer robot basic movement and strategy actions, the robot is operated in a dynamic and unpredictable contest environment and must recognize the position of itself in the field all the time. Therefore, the localization system of the soccer robot becomes the key technology to improve the performance. This work proposes efficient approaches for humanoid robot and uses one landmark to accomplish the self-localization. This localization mechanism integrates the information from the pan/tilt motors and a single camera on the robot head together with the artificial neural network technique to adaptively adjust the humanoid robot position. The neural network approach can improve the precision of the localization. The experimental results indicate that the average accuracy ratio is 88.5% under frame rate of 15 frames per second (fps), and the average error for the distance between the actual position and the measured position of the object is 6.68 cm.
關鍵字
語言 en
ISSN 1560-6686
期刊性質 國內
收錄於 EI
產學合作
通訊作者 Chiang, Jen-Shiun
審稿制度 否
國別 TWN
公開徵稿
出版型式 ,電子版,紙本
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