關鍵字查詢 | 類別:期刊論文 | | 關鍵字:Visual SLAM and Moving-object Detection for a Small-size Humanoid Robot

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序號 學年期 教師動態
1 98/2 機電系 王銀添 教授 期刊論文 發佈 Visual SLAM and Moving-object Detection for a Small-size Humanoid Robot , [98-2] :Visual SLAM and Moving-object Detection for a Small-size Humanoid Robot期刊論文Visual SLAM and Moving-object Detection for a Small-size Humanoid RobotWang, Yin-tien; Lin, Ming-chun; Ju, Rung-chi淡江大學機械與機電工程學系Simultaneous Localization and Mapping (SLAM); Humanoid Robot; Moving Object DetectionRijeka: InTech Open Access PublisherInternational Journal of Advanced Robotic Systems 7(2), pp.133-138100學年度研究獎補助論文In the paper, a novel moving object detection (MOD) algorithm is developed and integrated with robot visual Simultaneous Localization and Mapping (vSLAM). The moving object is assumed to be a rigid body and its coordinate system in space is represented by a position vector and a rotation matrix. The MOD algorithm is composed of detection of image features, initialization of image features, and calculation of object coordinates. Experimentation is implemented on a small-size humanoid robot and the results show that the performance of the proposed algorithm is efficient for robot visual SLAM
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