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

標題: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
語言英文
ISSN1560-6686
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
國別中華民國
公開徵稿
出版型式,電子版,紙本
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