Vision-based localization system for XY tracking platform

A vision-based localization system for XY Tracking platform is proposed in this paper. This platform is designed for assisting the humanoid robot to measure the walking performance. When the humanoid robot walks, the platform will keep tracking the robot and localize the position. The proposed system is able to overcome the image block problem, which is caused by the humanoid robot's moving. Two cameras are mounted on the XY platform to analyze the robot's position and the platform's position. Five color models including Red, Yellow, Green, Blue, and Purple are used for building the landmark. Each landmark is a combination of two or three colors. The platform labels the landmark by a series of the image processing procedure. After the platform labels the landmarks, the platform calculates the relationship between the landmark and the platform to localize itself. The experiment illustrates the effectiveness of the proposed system.