植基於移動式機器人平台之視覺異常事件偵測系統

Vision-Based Abnormal Event Detection System Using Mobile Robot

黃致魁(Chin-Kuei Huang)

指導教授 ： 謝君偉

元智大學/電機通訊學院/電機工程學系/碩士(2009年)

摘要

有鑑於監控系統的發展，智慧型機器人監控系統來代替人力資源為一種相當熱門的應用，包括在於室內的環境中，監控環境中是否有異常物件的情況發生，例如一幅名畫或是古董遺失，或發現不尋常的物品。
在本論文的研究目的在於發展完整的智慧型機器人監控系統，主要結合兩套系統於移動式機器人平台，分別為異常事件偵測系統與移動式機器人導航系統。系統分為兩大部分，首先是異常事件偵測系統，經過移動式機器人的學習後，將所需要的監控環境記錄其場景影像與特徵點資訊，建構出資料庫，不須建立3D背景資訊模組，藉此可以減少其運算量與記憶體空間；在巡航期間利用場景比對的方式判斷所在的場景並根據當時的場景特徵點資訊，透過圖形比對來判斷是否有異常事件的發生；其次為移動式機器人的導航系統，導航期間利用場景比對的方法判斷目前的所在位置，並與目前場景所得到的特徵點資訊與資料庫比對的場景特徵點資訊比較，根據場景的差異進行機器人行走方向的校正。
透過上述兩套系統，應用與整合設計並依據所規劃的系統結構與功能，依次完成該系統之移動式機器人平台之設計與研製、程式，並由實驗得知，說明本論文所提出與實現智慧型監控系統的可行性。

關鍵字

移動式機器人 ； 異常事件

並列摘要

This thesis proposes a system which aims at developing methodologies and techniques for abnormal event detection and navigation of a surveillance mobile robot. In the system, this approach can be divided into two parts, i.e., abnormal event detection and mobile robot navigation, for scene representation and exceptional change detection of important like paintings or antiques when mobile robot navigating known environment. In abnormal event detection, the operator controls the mobile robot to collection different videos for scene representation of training phase. Then, we use a method to build the background scene that is a patch-based technique. For detecting the abnormal event, in order to detect the abnormal object quickly, we use a patch searching algorithm that is present for scene registration. Therefore, that all possible exceptional changed that can be very efficiently detected form the scene panorama. In mobile robot navigation, the database is built as like the abnormal event detection system that let registers the path information of the mobile robot navigates known environment. Then, we use scene matching algorithm to compute the mobile robot direction and then guiding to the correct path. Experimental results are conducted to illustrate the feasibility and efficacy of the mobile robot of surveillance system.

並列關鍵字

mobile robot ； abnormal event detection

參考文獻

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