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

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

Blog Article

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 Furniture 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 Ranch Saddle the results show that the performance of the proposed algorithm is efficient for robot visual SLAM and moving object detection.