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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/96435

    Title: Self-Localization of a Small-Size Humanoid Soccer Robot Based on Natural Image Features
    Authors: Wang, Jen-Wei;Chang, Che-Ming;Hung, Duen-Yan;Chen, Yu-Cheng;Wang, Yin-Tien
    Contributors: 淡江大學機械與機電工程學系
    Keywords: Self-localization;Soccer robot;Feature detection;Feature tracking
    Date: 2008-11
    Issue Date: 2014-03-07 11:39:19 (UTC+8)
    Abstract: In this paper, an EKF-based robot self-localization is developed for a small-size humanoid robot navigating in environments with natural features. A novel algorithm for feature initialization is proposed for the EKF localization algorithm: the beacon positions are firstly obtained by extracting natural and apparent features from the image taken by a monocular vision. Then the "bad" feature points are detected and abandoned before they are chosen to be a reference beacon. Meanwhile, each obstacle in the environment is detected by gathering together a set of nearby features. A regional feature detection method is also employed to detect the obstacle for comparison. The developed algorithm is implemented on a PC-based controller for a small-size humanoid robot which has dimension of 40cm in height and 3kg in weight. Experimental results show that the proposed self-localization and obstacle detection algorithms have good performance for the humanoid robot navigating in the environment with natural features.
    Relation: Proceedings of the 2008 CACS International Automatic Control Conference,6pages
    Appears in Collections:[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Proceeding

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