期刊論文

標題 A Stereo Vision-Based Self-Localization System
學年 101
學期 2
出版(發表)日期 2013/05/01
作品名稱 A Stereo Vision-Based Self-Localization System
作品名稱(其他語言)
著者 Chiang, Jen-Shiun; Hsia, Chih-Hsien; Hsu, Hung-Wei
單位 淡江大學電機工程學系
出版者 Piscataway: Institute of Electrical and Electronics Engineers
著錄名稱、卷期、頁數 IEEE Sensors Journal 13(5), pp.1677-1689
摘要 This paper proposes a new stereo vision-based self-localization system (SVBSLS) for the RoboCup soccer humanoid league rules for the 2010 competition. The humanoid robot integrates information from pan/tilt motors and stereo vision to accomplish the self-localization and measure the distance from the robot to the soccer ball. The proposed approach uses a trigonometric function to find coarse distances from the robot to the landmark and from the robot to the soccer ball, after which it adopts an artificial neural network technique to increase the precision of the distance measurement. A statistics approach is also used to calculate the relationship between the humanoid robot and the position of the landmark for self-localization. The experimental results indicate that the SVBSLS localization system in this paper had an accuracy ratio of 100 for localization. The average error of distance from the humanoid soccer robot to the soccer ball was only 0.64 cm.
關鍵字 Back propagation neural network; humanoid robot; self-localization; stereo vision
語言 英文(美國)
ISSN 1530-437X
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 美國
公開徵稿
出版型式 電子版;紙本;