Collaboration Based Self-localization Algorithm for Humanoid Robot with Embedded Vision System
Pp. 47-55 (9)
Wei Zou, De Xu and Junzhi Yu
Collaborative self-localization algorithm for humanoid robot is a challenge in practice; here we present
a novel self-localization algorithm for collaborated humanoid robots with an embedded vision system. The
algorithm is established on an embedded vision system constituted by a DSP DM642 central processor with
ethereal controller and an 802.11g WiFi module, which could provide high speed network for large throughput
based multiple robots communication. Our self-localization algorithm built up in the embedded vision system
analyzes the image information with a speed of ten frames per second (720×480 pixels), and self-localizes by
fusing vision information of collaborated robots via WiFi communication. Experimental results on collaboration
among multiple humanoid soccer robots are presented to demonstrate the effectiveness of our embedded vision
system and self-localization algorithm.
Self-localization, humanoid robot, embedded vision, DSP.
Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China.