English  |  正體中文  |  简体中文  |  全文笔数/总笔数 : 58237/91808 (63%)
造访人次 : 13784251      在线人数 : 40
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜寻范围 查询小技巧:
  • 您可在西文检索词汇前后加上"双引号",以获取较精准的检索结果
  • 若欲以作者姓名搜寻,建议至进阶搜寻限定作者字段,可获得较完整数据
  • 进阶搜寻

    jsp.display-item.identifier=請使用永久網址來引用或連結此文件: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/89125

    题名: Self-Localization Based on Monocular Vision for Humanoid Robot
    作者: Chang, Shih-Hung;Hsia, Chih-Hsien;Chang, Wei-Hsuan;Chiang, Jen-Shiun
    贡献者: 淡江大學電機工程學系
    关键词: Self-Localization;Humanoid Soccer Robot;Neural Network;Monocular Vision
    日期: 2011-12-01
    上传时间: 2013-05-17 10:55:52 (UTC+8)
    出版者: 新北市:淡江大學
    摘要: Robot soccer game is one of the significant and interesting areas among most of the autonomous robotic researches. Following the humanoid soccer robot basic movement and strategy actions, the robot is operated in a dynamic and unpredictable contest environment and must recognize the position of itself in the field all the time. Therefore, the localization system of the soccer robot becomes the key technology to improve the performance. This work proposes efficient approaches for humanoid robot and uses one landmark to accomplish the self-localization. This localization mechanism integrates the information from the pan/tilt motors and a single camera on the robot head together with the artificial neural network technique to adaptively adjust the humanoid robot position. The neural network approach can improve the precision of the localization. The experimental results indicate that the average accuracy ratio is 88.5% under frame rate of 15 frames per second (fps), and the average error for the distance between the actual position and the measured position of the object is 6.68 cm.
    關聯: Tamkang Journal of Science and Engineering=淡江理工學刊 14(4), pp.323-332
    DOI: 10.6180/jase.2011.14.4.05
    显示于类别:[電機工程學系暨研究所] 期刊論文


    档案 描述 大小格式浏览次数



    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - 回馈