Image Feature Initialization and Its Applications on Robot Simultaneous Localization and Mapping

• Main Authors: Rung-Chi Ju, 朱溶琦
• Other Authors: Yin-Tien Wang
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/72910015173723019964

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.