立體視覺自走車系統之物體即時搜尋與追蹤

A Stereo Vision-Based Mobile Robot System for Object Real-time Searching and Tracking.

林思翰(Si-Han Lin)

指導教授 ： 吳明芳

崑山科技大學/工程學院/電機工程研究所/碩士(2006年)

https://doi.org/10.6828/KSU.2006.00052

摘要

本論文的目的主要在發展一套立體視覺自走車之即時物體搜尋與追蹤系統。此系統藉由架設在遙控車上的CMOS攝影機，將影像經由無線傳輸模組傳送給電腦。經由影像處理後再由電腦送出一組控制訊號透過RS-232傳送到遙控器上，進而控制遙控車行進的方向，以達到對目標物自動搜尋與追蹤的目的。本系統利用顏色分割法來找出符合特殊顏色特徵的目標物。並使用圓形偵測的方式來強化追蹤目標物的穩定性。同時也採用光軸相互平行且平行於地面的方式之雙眼立體視覺架構來計算出目標物與攝影機的相對距離。
　　實驗結果顯示自走車能夠即時追蹤目標物，並且當目標物不在系統視覺範圍內時，系統會執行目標物搜尋的動作。本文所設計之立體視覺自走車系統，結合了立體視覺與自走車的運動控制，賦予自走車具有視覺感知的能力，使其能夠即時搜尋及追蹤特定顏色的圓形目標物。

關鍵字

視覺感知 ； 顏色分割 ； 立體視覺 ； 自走車

並列摘要

The purpose of this thesis is to develop a real-time stereo vision mobile robot system to track specific color circular target. This system uses two CMOS cameras installed on a radio control car to capture the images and deliver the images to a computer through wireless transmission module. Then we build a target tracking software to find out the target’s position by these images, and send out the control command, movement direction and distance, to the radio control car by one remote controller that connects to the computer through RS-232. And the car will move to the target’s position. In the target tracking software, we use the target’s color characteristic to segment it from the pair of images. We also implement the circular detecting algorithm to improve the target detecting accuracy. Meanwhile, the distance between the target and the radio control car can be calculated by the binocular stereo vision (BSV). The BSV in this thesis is an optical axis parallel mutually optical system and it also parallels to the ground.
　　The experiment result has been carried out and shows the mobile robot can real-time track the target. When the target is not within the range of system vision, it also can search the target automatically. In this thesis, we have designed a stereo vision mobile robot, which combines stereo vision and motion control, and this visual perception ability make it can search and track a circular target with specific color real-time.

並列關鍵字

visual perception ； color segment ； stereo vision ； mobile robot

參考文獻

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