Visual SLAM and Moving-object Detection for a Small-size Humanoid Robot

In the paper, a novel moving object detection (MOD) algorithm is developed and integrated with robot visual Simultaneous Localization and Mapping (vSLAM). The moving object is assumed to be a rigid body and its coordinate system in space is represented by a position vector and a rotation matrix. The...

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Bibliographic Details
Published in:International journal of advanced robotic systems 2010-06, Vol.7 (2)
Main Authors: Wang, Yin-Tien, Lin, Ming-Chun, Ju, Rung-Chi
Format: Article
Language:English
Subjects:
Simultaneous Localization and Mapping (SLAM)
Humanoid Robot
Moving Object Detection
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Summary:In the paper, a novel moving object detection (MOD) algorithm is developed and integrated with robot visual Simultaneous Localization and Mapping (vSLAM). The moving object is assumed to be a rigid body and its coordinate system in space is represented by a position vector and a rotation matrix. The MOD algorithm is composed of detection of image features, initialization of image features, and calculation of object coordinates. Experimentation is implemented on a small-size humanoid robot and the results show that the performance of the proposed algorithm is efficient for robot visual SLAM and moving object detection.
ISSN:1729-8806
1729-8814
DOI:10.5772/9700