| Summary: | 碩士 === 國立高雄第一科技大學 === 電機工程研究所碩士班 === 103 === If wanting to work in an unknown environment, then people need to explore and record the environment information. If wanting to work in a known environment, then they need to localize the position of the this environment to execute assigned missions, similar to humanoid robots. In this experiment, Similar to real human, humanoid robot sensor only uses a computer vision system with webcam is designed for localization and map building, rather than using ultrasound, infrared and laser sensors for distance measurement. To finish the localization and map building depends on single camera is quite challenging for humanoid robot system.
In this thesis, Monte Carlo localization method for localization in the known map, and update the map information immediately with unknown obstacles. In addition, for reducing convergence time of Monte Carlo localization, combined with trilateration method to the initial position is also included.
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