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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/42049

    Title: Dual-circle self-localization algorithm for omnidirectional vision robots
    Authors: 許陳鑑;Hsu, Chen-chien;翁慶昌;Wong, Ching-chang;Teng, Hung-chih
    Contributors: 淡江大學電機工程學系
    Keywords: Omnidirectional image;autonomous robot;self - localization
    Date: 2008-07
    Issue Date: 2010-08-10 11:00:12 (UTC+8)
    Publisher: 哈爾濱:哈爾濱工業大學
    Abstract: This paper proposes a new self-localization algorithm, called dual-circle self- localization algorithm, for use in omnidirectional vision robots. When an autonomous robot navigates in the field, it senses the environment by an omnidirectional vision device fitted on the robot. The landmarks information is acquired by using image processing and pattern recognition techniques. Robot position on the field can be estimated with the proposed method by using these landmarks information. Comparing with other self - localization methods, the dual- circle self -localization algorithm requires only three landmarks information in the image for identifying the robot position, which is very efficient for image processing. Practical experiments on an autonomous robot have demonstrated that the proposed algorithm can achieve a satisfactory performance to locate the robot.
    Relation: Journal of Harbin Institute of Technology 15 Suppl.2, pp.92-95
    Appears in Collections:[電機工程學系暨研究所] 期刊論文

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