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

Yin-Tien Wang | Zendy; Ming-Chun Lin | Zendy; Rung-Chi Ju | Zendy

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

Author(s) -

Yin-Tien Wang,

Ming-Chun Lin,

Rung-Chi Ju

Publication year - 2010

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/9700

Subject(s) - computer vision , artificial intelligence , computer science , initialization , object (grammar) , object detection , robot , rotation matrix , position (finance) , rotation (mathematics) , simultaneous localization and mapping , humanoid robot , mobile robot , pattern recognition (psychology) , finance , economics , programming language

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

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