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  • 學位論文

小型人形機器人系統之視覺式同時定位與建圖

Vision-based Simultaneous Localization and Mapping for a Small-size Humanoid Robot System

指導教授 : 王銀添

摘要


本研究建立以視覺輔助的同時定位與建圖(Simultaneous Localization and Mapping, SLAM)系統,提供機器人建立環境地圖與自我定位之用。本研究的內容分為兩部分:包括視覺式EKF SLAM架構的建立,以及人形機器人步態的規劃與實現。發展的同時定位與建圖系統應用在具備前視型攝影機的小型人形機器人系統上。

並列摘要


In this thesis, the vision-based Simultaneous Localization and Mapping (SLAM) be established, and provided for the robot to do self-localization and build up the environmental map. This research is divided into two parts, including the design of the vision-based EKF-SLAM and the gait planning of the humanoid robot. The developed SLAM system be applied to a small-size humanoid robot system with frontal camera.

參考文獻


[21] 朱溶琦,2009,影像特徵初始化及其在機器人同時定位與建圖的應用,淡江大學機械與機電工程學系碩士論文。
[1] Davison, A.J., I.D. Reid, N.D. Molton, and O. Stasse, 2007, “MonoSLAM Real Time Single Camera SLAM,” IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.29, no.6, pp.1052-1067.
[4] Dissanayake, M.W.M.G., P. Newman, S. Clark, H. Durrant-Whyte, and M. Csorba, 2001, A Solution to the Simultaneous Localization and Map Building (SLAM) Problem, IEEE Transactions on Robotics and Automation, vol.17, no. 3, pp. 229–241.
[5] Durrant-Whyte, H., and T. Bailey, 2006, Simultaneous Localization and Mapping: Part 1, IEEE Robotics and Automation Magazine.
[6] Durrant-Whyte, H., and T. Bailey, 2006, Simultaneous Localization and Mapping: Part 2, IEEE Robotics and Automation Magazine.

被引用紀錄


朱溶琦(2009)。影像特徵初始化及其在機器人同時定位與建圖的應用〔碩士論文,淡江大學〕。華藝線上圖書館。https://doi.org/10.6846/TKU.2009.00692
黃禹文(2009)。視覺式機器人自我定位與移動物體的狀態估測〔碩士論文,淡江大學〕。華藝線上圖書館。https://doi.org/10.6846/TKU.2009.00297

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