Visual SLAM and Moving-object Detection for a Small-size Humanoid Robot

淡江大學機構典藏 > 工學院 > 機械與機電工程學系暨研究所 > 期刊論文 > Item 987654321/65414

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題名:	Visual SLAM and Moving-object Detection for a Small-size Humanoid Robot
作者:	Wang, Yin-tien;Lin, Ming-chun;Ju, Rung-chi
貢獻者:	淡江大學機械與機電工程學系
關鍵詞:	Simultaneous Localization and Mapping (SLAM);Humanoid Robot;Moving Object Detection
日期:	2010-06
上傳時間:	2011-10-20 21:47:47 (UTC+8)
出版者:	Rijeka: InTech Open Access Publisher
摘要:	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.
關聯:	International Journal of Advanced Robotic Systems 7(2), pp.133-138
DOI:	10.5772/9700
顯示於類別:	[機械與機電工程學系暨研究所] 期刊論文

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