Image Feature Initialization and Its Applications on Robot Simultaneous Localization and Mapping
碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 97 === In this thesis, the method of image feature detecting and tracking is utilized to develop the sensor module of a robot, and provided for robot simultaneous self-localization and mapping, as well as detection of the position and orientation of an object. The re...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2009
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| Online Access: | http://ndltd.ncl.edu.tw/handle/72910015173723019964 |
| Summary: | 碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 97 === In this thesis, the method of image feature detecting and tracking is utilized to develop the sensor module of a robot, and provided for robot simultaneous self-localization and mapping, as well as detection of the position and orientation of an object. The research is divided into three stages: including the detection and tracking of image region features; the algorithm of feature initialization; and the task of simultaneous localization and mapping, as well as the detection of the position and orientation for a moving object. The developed vision module is applied to a small-size humanoid robot system with a frontal camera.
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