Dual-Circle Self-Localization Algorithm for Omnidirectional Vision Robots

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dc.contributor國立臺灣師範大學電機工程學系zh_tw
dc.contributor.authorChen-Chien Hsuen_US
dc.contributor.authorChing-Chang Wongen_US
dc.contributor.authorHung-Chih Tengen_US
dc.date.accessioned2014-10-30T09:28:30Z
dc.date.available2014-10-30T09:28:30Z
dc.date.issued2008-07-01zh_TW
dc.description.abstractThis 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.en_US
dc.description.urihttp://spirit.tku.edu.tw:8080/phd/upload/895440104/Dual-Circle%20Self-Localization%20Algorithm%20for%20Omnidirectional%20Vision%20Robots.pdfzh_TW
dc.identifierntnulib_tp_E0607_01_012zh_TW
dc.identifier.issn1005-9113zh_TW
dc.identifier.urihttp://rportal.lib.ntnu.edu.tw/handle/20.500.12235/32106
dc.languageenzh_TW
dc.publisherHarbin Institute of Technologyen_US
dc.relationJournal of Harbin Institute of Technology, 15(2), 92-95.en_US
dc.subject.otherOmnidirectional imageen_US
dc.subject.otherautonomous roboten_US
dc.subject.otherself-localizationen_US
dc.titleDual-Circle Self-Localization Algorithm for Omnidirectional Vision Robotsen_US

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