教師資料查詢 | 類別: 期刊論文 | 教師: 江正雄 CHIANG JEN-SHIUN (瀏覽個人網頁)

標題:A Stereo Vision-Based Self-Localization System
學年
學期
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)
ISSN1530-437X
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;
相關連結
SDGs
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