Please use this identifier to cite or link to this item: http://rportal.lib.ntnu.edu.tw:80/handle/77345300/32106
Title: Dual-Circle Self-Localization Algorithm for Omnidirectional Vision Robots
Authors: 國立臺灣師範大學電機工程學系
Chen-Chien Hsu
Ching-Chang Wong
Hung-Chih Teng
Issue Date: 1-Jul-2008
Publisher: Harbin Institute of Technology
Abstract: This paper proposes a new self-localization algorithm, called dual-circle self-localization algorithm, for use in omnidirectional vision robots. When an autonomous robot navigates in the field, it senses the environment by an omnidirectional vision device fitted on the robot. The landmarks information is acquired by using image processing and pattern recognition techniques. Robot position on the field can be estimated with the proposed method by using these landmarks information. Comparing with other self-localization methods, the dual-circle self-localization algorithm requires only three landmarks information in the image for identifying the robot position, which is very efficient for image processing. Practical experiments on an autonomous robot have demonstrated that the proposed algorithm can achieve a satisfactory performance to locate the robot.
URI: http://rportal.lib.ntnu.edu.tw/handle/77345300/32106
ISSN: 1005-9113
Other Identifiers: ntnulib_tp_E0607_01_012
Appears in Collections:教師著作

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