關鍵字查詢 | 類別:期刊論文 | | 關鍵字:Real-Time Navigation for a Humanoid Robot Using Particle Filter

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1 101/1 電機系 鄭吉泰 助理教授 期刊論文 發佈 Real-Time Navigation for a Humanoid Robot Using Particle Filter , [101-1] :Real-Time Navigation for a Humanoid Robot Using Particle Filter期刊論文Real-Time Navigation for a Humanoid Robot Using Particle FilterJacky Baltes; Cheng, Chi Tai; Lau, Meng Cheng; Andrés Espínola淡江大學電機工程學系Humanoid Robot;Navigation;Particle FilterStafa-Zurich: Trans Tech Publications Ltd.Applied Mechanics and Materials 284-287, pp.1914-1918This paper presents a practical real-time visual navigation system, including a vision system, a particle filter (PF) based localization system, and a path planning system, for humanoid robots in an indoor environment. A neural network (NN) converter system is used to solve the image distortion problem. The monocular vision system detects objects of interest in the scene, calculating their position in the image, and converting the position in the image to real world coordinates. The PF localization system estimates the current position by the robot’s motion model and corrects the estimated position by using feedback from the data gathered by the vision s
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