Motion detection by a moving observer using Kalman filter and neural network in soccer robot
سال انتشار: 1386
نوع سند: مقاله ژورنالی
زبان: انگلیسی
مشاهده: 470
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شناسه ملی سند علمی:
JR_JCR-1-1_008
تاریخ نمایه سازی: 23 دی 1396
چکیده مقاله:
In many autonomous mobile applications, robots must be capable of analyzing motion of moving objects in their environment. During movement of robot the quality of images is affected by quakes of camera which cause high errors in image processing outputs. In this paper, we propose a novel method to effectively overcome this problem using Neural Networks and Kalman Filtering theory. This technique uses movement parameters of camera to resolve problems caused by error in image processing outputs. The technique is successfully applied in the MRL Middle Size Soccer Robots where ball motion detection has an especial importance in their decision making. Experimental results are presented and 2.2% achieved error suggests that the combined approach performs significantly better than traditional techniques.
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نویسندگان
Sanaz Taleghani
Department of Computer & IT, Qazvin Azad University, Qazvin, Iran - Mechatronics Research Laboratory(MRL), Qazvin, Iran
Siavash Aslani
Department of Computer & IT, Qazvin Azad University, Qazvin, Iran - Mechatronics Research Laboratory(MRL), Qazvin, Iran
Saeed Shiry
Computer Engineering Department, Amirkabir University, Tehran, Iran