Visual SLAM and Moving-object Detection for a Small-size Humanoid Robot-Reference-Cited by-同舟云学术

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

Published:2010-06-01 Issue:2 Volume:7 Page:13
ISSN:1729-8814
Container-title:International Journal of Advanced Robotic Systems
language:en
Short-container-title:International Journal of Advanced Robotic Systems

Author:

Wang Yin-Tien¹,Lin Ming-Chun²,Ju Rung-Chi¹

Affiliation:

1. Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, Taipei Hsien, Taiwan

2. Department of Electrical Engineering, Technology and Science Institute of Northern Taiwan, Taipei, Taiwan

Abstract

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.

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Link

http://journals.sagepub.com/doi/pdf/10.5772/9700

Reference10 articles.

1. Speeded-Up Robust Features (SURF)

2. MonoSLAM: Real-Time Single Camera SLAM

3. A solution to the simultaneous localization and map building (SLAM) problem

4. A tutorial on visual servo control

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