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

被引：3

作者：

Wang, Yin-Tien ^{[1
]}

Lin, Ming-Chun ^{[2
]}

Ju, Rung-Chi ^{[1
]}

机构：

[1] Tamkang Univ, Dept Mech & Electromech Engn, Taipei Hsien, Taiwan

[2] Technol & Sci Inst No Taiwan, Dept Elect Engn, Taipei, Taiwan

来源：

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2010年 / 7卷 / 02期

关键词：

Simultaneous Localization and Mapping (SLAM); Humanoid Robot; Moving Object Detection; SIMULTANEOUS LOCALIZATION;

D O I：

10.5772/9700

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

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

页码：133 / 138

页数：6

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