| Omnidirectional Vision-based Robot Localization on Soccer Field by Particle Filter | |
|---|---|
| 學年 | 99 |
| 學期 | 1 |
| 發表日期 | 2010-08-18 |
| 作品名稱 | Omnidirectional Vision-based Robot Localization on Soccer Field by Particle Filter |
| 作品名稱（其他語言） | |
| 著者 | Wong, Ching-Chang; Aoyama, H.; Ho, Cheng-Yao; Chen, Chia-Yang |
| 作品所屬單位 | 淡江大學電機工程學系 |
| 出版者 | Taipei：Institute of electrical and electronics engineers (IEEE) |
| 會議名稱 | SICE Annual Conference 2010 |
| 會議地點 | Taipei, Taiwan |
| 摘要 | An omnidirectional vision-based localization method based on the particle Alter is proposed to achieve the location of robot on a soccer field in this paper. Two kinds of sensor information are considered in the method to let the robot on the soccer field can estimate its location and then to decide an appropriate strategy. One is the robot action sensor information obtained by the motor's feedback and the other is the observation sensor information obtained by the image captured by an omnidirectional vision system. The action sensor information is used to expect the robot location distribution. The location distribution is represented by particles. The omnidirectional image is used to observe the environment information. The differences between these particles location's environment information and the robot observation environment information are considered to calculate the belief values of particles. Then the posture of the particle with the highest belief is used to be the estimated posture of the robot. Some experimental results are presented to illustrate the effectiveness of the proposed method. |
| 關鍵字 | |
| 語言 | en |
| 收錄於 | |
| 會議性質 | 國際 |
| 校內研討會地點 | |
| 研討會時間 | 20100818~20100821 |
| 通訊作者 | |
| 國別 | TWN |
| 公開徵稿 | Y |
| 出版型式 | |
| 出處 | SICE Annual Conference 2010, Proceedings of, pp.2976-2981 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/70506 ) |
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