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:Adaptive vision-based self-localization system for humanoid robot of RoboCup
學年101
學期2
出版(發表)日期2013/03/01
作品名稱Adaptive vision-based self-localization system for humanoid robot of RoboCup
作品名稱(其他語言)
著者Hsia, Chih-Hsien; Chiang, Jen-Shiun; Chang, Shih-Hung
單位淡江大學電機工程學系
出版者Kumamoto: I C I C International
著錄名稱、卷期、頁數International Journal of Innovative Computing, Information and Control 9(3), pp.991-1012
摘要Robotic soccer games represent the most significant form of research in artificial intelligence. Using the humanoid soccer robot’s basic movement and strategic actions, the robot takes part in a dynamic and unpredictable contest and must recognize its own position on the field at all times. Therefore, the localization system for the soccer robot represents the key technology for improving its performance. This work proposes a new approach for self-localization, an Adaptive Vision-Based Self-Localization System (AVBSLS), which allows the humanoid robot to integrate the information from the pan/tilt motors and a single camera to achieve self-localization. The proposed approach uses a measuring artificial neural network technique to adjust the position of the humanoid robot. A systematic method to measure the intrinsic parameters is proposed for the CCD camera adjustment. Using this approach, any type of CCD camera can be used to precisely calculate the robot’s position. The experimental results indicate that the average accuracy of the localization is 92.3% for a frame rate of 15 frames per second (FPS).
關鍵字Soccer robot; Adaptive vision-based self-localization system (AVBSLS); Humanoid robot
語言英文
ISSN1349-4198
期刊性質國外
收錄於SCI;
產學合作
通訊作者Hsia, Chih-Hsien
審稿制度
國別日本
公開徵稿
出版型式電子版;紙本;
相關連結
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