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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/80816


    Title: Stereo vision-based self-localization system for RoboCup
    Authors: Chiang, Jen-Shiun;Hsia, Chih-Hsien;Hsu, Hung-Wei;Li, Chun-I
    Contributors: 淡江大學電機工程學系
    Keywords: Back propagation neural network;Robo Cup 2010;humanoid robot;self-localization;stereo vision
    Date: 2011
    Issue Date: 2013-03-07 14:01:20 (UTC+8)
    Publisher: New York: Institute of Electrical and Electronics Engineers (IEEE)
    Abstract: This work 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 the information from the pan/tilt motors and stereo vision to accomplish the self-localization and measure the distance of the robot and the soccer ball. The proposed approach uses the trigonometric function to find the coarse distances from the robot to the landmark and the robot to the soccer ball, and then it further adopts the artificial neural network technique to increase the precision of the distance. The 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 localization system of SVBSLS in this research work has 100% average accuracy ratio for localization. The average error of distance from the humanoid soccer robot to the soccer ball is only 0.64 cm.
    Relation: Fuzzy Systems (FUZZ), 2011 IEEE International Conference on, pp.2763-2770
    DOI: 10.1109/FUZZY.2011.6007700
    Appears in Collections:[電機工程學系暨研究所] 會議論文

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