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    題名: Adaptive vision-based self-localization system for humanoid robot of RoboCup
    作者: Hsia, Chih-Hsien;Chiang, Jen-Shiun;Chang, Shih-Hung
    貢獻者: 淡江大學電機工程學系
    關鍵詞: Soccer robot;Adaptive vision-based self-localization system (AVBSLS);Humanoid robot
    日期: 2013-03
    上傳時間: 2013-03-11 13:42:24 (UTC+8)
    出版者: Kumamoto: I C I C International
    摘要: Robotic soccer games represent the most significant form of research in artificial intelligence. Using the humanoid soccer robot’s basic movement and strategic actions, the robot takes part in a dynamic and unpredictable contest and must recognize its own position on the field at all times. Therefore, the localization system for the soccer robot represents the key technology for improving its performance. This work proposes a new approach for self-localization, an Adaptive Vision-Based Self-Localization System (AVBSLS), which allows the humanoid robot to integrate the information from the pan/tilt motors and a single camera to achieve self-localization. The proposed approach uses a measuring artificial neural network technique to adjust the position of the humanoid robot. A systematic method to measure the intrinsic parameters is proposed for the CCD camera adjustment. Using this approach, any type of CCD camera can be used to precisely calculate the robot’s position. The experimental results indicate that the average accuracy of the localization is 92.3% for a frame rate of 15 frames per second (FPS).
    關聯: International Journal of Innovative Computing, Information and Control 9(3), pp.991-1012
    顯示於類別:[電機工程學系暨研究所] 期刊論文

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