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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/65414


    Title: Visual SLAM and Moving-object Detection for a Small-size Humanoid Robot
    Authors: Wang, Yin-tien;Lin, Ming-chun;Ju, Rung-chi
    Contributors: 淡江大學機械與機電工程學系
    Keywords: Simultaneous Localization and Mapping (SLAM);Humanoid Robot;Moving Object Detection
    Date: 2010-06
    Issue Date: 2011-10-20 21:47:47 (UTC+8)
    Publisher: Rijeka: InTech Open Access Publisher
    Abstract: 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 and moving object detection.
    Relation: International Journal of Advanced Robotic Systems 7(2), pp.133-138
    DOI: 10.5772/1
    Appears in Collections:[機械與機電工程學系暨研究所] 期刊論文

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