像素差異法於傾斜面之目標物距離量測與定位

Localization of Objects on an Oblique Plane via Pixel Variation of CCD Images

秦克威(Ke-Wei Chin)

指導教授 ： 許陳鑑

淡江大學/工學院/電機工程學系碩士班/碩士(2010年)

https://doi.org/10.6846/TKU.2010.00055

摘要

本文首先提出一種影像式量測方法，用以量測傾斜面上目標物之距離及傾斜角度，作法上係使用一台PTZ(Pan/Tilt/Zoom) Camera作為攝影機具，利用其變焦功能模擬出不同攝影距離所產生影像畫面，再藉由目標物於影像畫面中像素值的差異，實現對於傾斜面上目標物體之距離與角度量測，並進一步完成目標物體之二維平面定位。最後，本文再以實際的量測定位實驗及記錄，證實此整合式系統的準確性及實用性。

關鍵字

距離量測 ； 影像式量測 ； PTZ 攝影機 ； 定位 ； 量測系統

並列摘要

This thesis presents an image-based system for measuring target objects on an oblique surface based on pixel variation of CCD images. By using the zooming function of a PTZ camera, we can simulate two images at two different photographing distances. By using the different pixel counts of the target object in the CCD image frame, two-dimensional localization of the target object on the oblique plane can be accomplished. To validate the effectiveness and viability of the proposed method, practical experiments are conducted in the thesis. Experiment results demonstrate that the proposed measuring system has a satisfactory accuracy in self-localization for mobile robots.

並列關鍵字

Distance measurement ； image-based measurement ； PTZ camera ； localization ； measuring systems

參考文獻

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