Visual SLAM and Moving-object Detection for a Small-size Humanoid Robot

Autor:	Yin-Tien Wang, Ming-Chun Lin, Rung-Chi Ju
Jazyk:	angličtina
Rok vydání:	2010
Předmět:	Simultaneous Localization and Mapping (SLAM) Humanoid Robot Moving Object Detection. Electronics TK7800-8360 Electronic computers. Computer science QA75.5-76.95
Zdroj:	International Journal of Advanced Robotic Systems, Vol 7, Iss 2 (2010)
Druh dokumentu:	article
ISSN:	1729-8806 1729-8814
Popis:	In the paper, a novel moving object detection (MOD) algorithm is developed and integrated with robot visual Simultaneous Localization and Mapping (vSLAM). The moving object is assumed to be a rigid body and its coordinate system in space is represented by a position vector and a rotation matrix. The MOD algorithm is composed of detection of image features, initialization of image features, and calculation of object coordinates. Experimentation is implemented on a small-size humanoid robot and the results show that the performance of the proposed algorithm is efficient for robot visual SLAM and moving object detection.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/1cd073cd20594c24a3b27d54f4a36662 Zobrazit plný text záznamu View record in DOAJ