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

Yin-Tien Wang, Ming-Chun Lin, Rung-Chi Ju
2010 International Journal of Advanced Robotic Systems  
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
more » ... e results show that the performance of the proposed algorithm is efficient for robot visual SLAM and moving object detection.
doi:10.5772/9700 fatcat:moluyon3hjcaxjwekcvxdvfkbu