Visual SLAM and moving-object detection for a small-size humanoid robot

被引：0
|
作者：
Wang Y.-T. [1 ]
Lin M.-C. [2 ]
Ju R.-C. [1 ]
机构：
[1] Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, Taipei Hsien
[2] Department of Electrical Engineering, Technology and Science Institute of Northern Taiwan, Taipei
来源：
International Journal of Advanced Robotic Systems | 2010年 / 7卷 / 02期
关键词：
Humanoid robot; Moving object detection; Simultaneous Localization and Mapping (SLAM);
D O I：
10.5772/9700
中图分类号：
学科分类号：
摘要：
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.
引用
收藏
页码：133 / 138
页数：5
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