教師資料查詢 | 類別: 會議論文 | 教師: 王銀添 Wang Yin-tien (瀏覽個人網頁)

標題:Self-Localization of a Small-Size Humanoid Soccer Robot Based on Natural Image Features
學年97
學期1
發表日期2008/11/21
作品名稱Self-Localization of a Small-Size Humanoid Soccer Robot Based on Natural Image Features
作品名稱(其他語言)
著者Wang, Jen-Wei; Chang, Che-Ming; Hung, Duen-Yan; Chen, Yu-Cheng; Wang, Yin-Tien
作品所屬單位淡江大學機械與機電工程學系
出版者
會議名稱2008 CACS International Automatic Control Conference
會議地點臺南, 臺灣
摘要In this paper, an EKF-based robot self-localization is developed for a small-size humanoid robot navigating in environments with natural features. A novel algorithm for feature initialization is proposed for the EKF localization algorithm: the beacon positions are firstly obtained by extracting natural and apparent features from the image taken by a monocular vision. Then the "bad" feature points are detected and abandoned before they are chosen to be a reference beacon. Meanwhile, each obstacle in the environment is detected by gathering together a set of nearby features. A regional feature detection method is also employed to detect the obstacle for comparison. The developed algorithm is implemented on a PC-based controller for a small-size humanoid robot which has dimension of 40cm in height and 3kg in weight. Experimental results show that the proposed self-localization and obstacle detection algorithms have good performance for the humanoid robot navigating in the environment with natural features.
關鍵字Self-localization;Soccer robot;Feature detection;Feature tracking
語言英文
收錄於
會議性質國際
校內研討會地點
研討會時間20081121~20081123
通訊作者
國別中華民國
公開徵稿Y
出版型式紙本
出處Proceedings of the 2008 CACS International Automatic Control Conference6p.
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