影像特徵初始化及其在機器人同時定位與建圖的應用

Image Feature Initialization and Its Applications on Robot Simultaneous Localization and Mapping

朱溶琦(Rung-Chi Ju)

指導教授 ： 王銀添

淡江大學/工學院/機械與機電工程學系碩士班/碩士(2009年)

https://doi.org/10.6846/TKU.2009.00692

摘要

本研究將以影像區域特徵(image region features)追蹤與偵測方法規劃機器人的感測模型，提供人形機器人系統同時建立環境地圖與自我定位、以及物件方向與位置偵測之用。本研究的內容分為三個部分：包括影像區域特徵的偵測與追蹤，特徵初始化(feature initialization)程序的規劃，機器人同時定位與建圖、以及移動物件方位偵測的應用等。發展的視覺模組應用在具備前視型攝影機的小型人形機器人系統上。

關鍵字

機器人視覺 ； 影像區域特徵 ； 同時定位與建圖 ； 移動物體偵測

並列摘要

In this thesis, the method of image feature detecting and tracking is utilized to develop the sensor module of a robot, and provided for robot simultaneous self-localization and mapping, as well as detection of the position and orientation of an object. The research is divided into three stages: including the detection and tracking of image region features; the algorithm of feature initialization; and the task of simultaneous localization and mapping, as well as the detection of the position and orientation for a moving object. The developed vision module is applied to a small-size humanoid robot system with a frontal camera.

並列關鍵字

Robot vision ； Region feature ； Simultaneous Localization and Mapping (SLAM) ； Moving object-tracking

參考文獻

[19]. 張哲銘，2009，小型人形機器人系統之視覺式同時定位與建圖，淡江大學機械與機電工程學系碩士論文。

[20]. 黃禹文，2009，視覺式機器人自我定位與移動物體的狀態估測，淡江大學機械與機電工程學系碩士論文。

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