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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/80563


    Title: Dual-circle self-localization for soccer robots with omnidirectional vision
    Authors: Hsu, Chen-Chien;Wong, Ching-Chang;Teng, Hung-Chih;Ho, Cheng-Yao
    Contributors: 淡江大學電機工程學系
    Keywords: Omnidirectional image;autonomous robot;self-localization;omnidirectional vision;soccer robots
    Date: 2012-09
    Issue Date: 2013-02-18 13:25:29 (UTC+8)
    Publisher: Abingdon: Taylor & Francis
    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 the Chinese Institute of Engineers 35(6), pp.619-631
    DOI: 10.1080/02533839.2012.701835
    Appears in Collections:[電機工程學系暨研究所] 期刊論文

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