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

International Journal of Advanced Robotic Systems

关键词: Simultaneous Localization and Mapping (SLAM);    Humanoid Robot;    Moving Object Detection;   

DOI  :  10.5772/9700

学科分类：自动化工程

来源: InTech

【 摘 要 】

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.

【 授权许可】

CC BY