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Visual SLAM and Moving-object Detection for a Small-size Humanoid Robot
2010
International Journal of Advanced Robotic Systems
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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
doi:10.5772/9700
fatcat:moluyon3hjcaxjwekcvxdvfkbu