基於視覺式里程計之二輪式機器人控制

Visual Odometry Based Two-Wheeled Mobile Robot Control

蕭恩哲(En-Che Hsiao)

指導教授 ： 孫崇訓

淡江大學/工學院/機械與機電工程學系碩士班/碩士(2013年)

https://doi.org/10.6846/TKU.2013.00731

摘要

本論文以視覺里程計(Visual Odometry,VO)架設於二輪式移動機器人。首先以雙眼鏡頭作為感測器於未知環境中擷取影像，再於影像中使用加速強健特徵(speeded up robust features, SURF)搜尋影像上之地標。地標透過立體視覺求算三維座標，並用三點透視(perspective-3-point, P3P)問題與隨機取樣一致(random sample consensus, RANSAC)演算法求算出攝影機位置，達到視覺里程計的目的。最後實驗用機器人做簡單路徑行走，驗證此視覺式里程計系統為可行。

關鍵字

視覺里程計 ； SURF ； P3P ； RANSAC ； 二輪式移動機器人

並列摘要

In this paper, a visual odometry is developed on the two-wheeled mobile robot. First, the binocular stereo camera is regarded as the sensor for the visual odometry to capture images in unknown environment. Then the landmarks of interest in images are detected by speeded-up robust features (SURF) algorithm. The location of the landmark in Cartesian coordinate can be derived from stereo geometry. The position of the camera can be determined by perspective-3-point (P3P) method and random sample consensus (RANSAC) algorithm. Therefore, the visual odometry is achieved. Finally, simple path navigation experiments demonstrate the effectiveness of the proposed visual odometry system.

並列關鍵字

Visual Odometry(VO) ； Speeded-Up Robust Features(SURF) ； perspective-3-point(P3P) ； random sample consensus(RANSAC) ； two-wheeled mobile robot

參考文獻

[7] 郭沛棋, "兩輪差速驅動機器人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, 2011.

[9] 洪景泰, "基於FPGA之視覺定位及建圖於移動式機器人," 淡江大學機械與機電工程學系碩士論文, 2011.

[11] 林冠瑜, "使用低階攝影機實現機器人視覺式SLAM," 淡江大學機械與機電工程學系碩士論文, 2012.

[2] D. Nister, O. Naroditsky, and J. Bergen, "Visual odometry for ground vehicle applications," Journal of Field Robotics, vol. 23, pp. 3-20, 2006.

[3] D. Lowe, "Distinctive Image Features from Scale-Invariant Keypoints," International Journal of Computer Vision, vol. 60, pp. 91-110, 2004/11/01 2004.