基於全方位影像之場景變化偵測與拓墣地圖之建構

Scene Change Detection and Topological Map Construction Using Omnidirectional Image Sequences

林昱享(Yu-Hsiang Lin)

指導教授 ： 林惠勇

國立中正大學/工學院/電機工程學系/碩士(2012年)

摘要

地方辨識與定位，一直以來都是自主移動機器人研究領域，備受關注的議題之一。本論文提出一套非常接近人類思維的場景相關認知與判別方法-“場景變化偵測”。此研究主題想法來自人類在記憶路徑或指引他人路徑時，通常只採用少量的關鍵點資訊輔助。在本研究中我們僅以一台全方位攝影機，不含其他感測器，利用基於增強型凸包編碼與SURF特徵點擷取的方式，開發出經由分析增強型凸包編碼參數變化趨勢的場景變化偵測機制，使其能適用於室內、室外場景之變化偵測。一旦自主移動機器人行經一段未知路徑，即可使用此場景變化偵測機制標記未知路徑中的重要區域，並利用偵測出的節點訊息建構環境拓墣地圖。

關鍵字

場景變化偵測 ； 增強型凸包轉換 ； 語意式描述 ； 視覺地方辨識 ； 凸包轉換

並列摘要

Place recognition and location are important problems in mobile robotic research. In this thesis, we present a novel scene recognition technique that resembles human thinking-"scene change detection".Our semantic scene descriptor is based on SURF and Extend-HCT features.We build a scene change judgment system by analyzing parameter of Extend-HCT codewords.Then we use our algorithm to mark the interested regions and construct the topological map after the autonomous mobile robot passing through an unknown path.For a robot to have a topological map in an unknown environment is just like voyaging in the vast sea with compass.In the future, if a robot goes through this environment again, it can use the topological map which we built before, and assist the robot for place recognition, location and navigation tasks.

並列關鍵字

Scene Change Detection ； Extend Hull Census Transform, (Extend-HCT) ； Semantic Descriptor ； Visual Place Recognition ； Hull Census Transform, (HCT)

參考文獻

[1] M. W. and H. Y. Lin, “An extended-HCT semantic description for visual place recognition”, International Journal of Robotics Research, pp. 1403–1420, 2011.

[3] S.W. Lee, Y.M. Kim, and S.W. Choi, “Fast scene change detection using direct feature extraction from MPEG compressed videos”, IEEE Transactions on Multimedia, vol. 2, no. 4, pp. 240–254, 2000.

[4] M. Liu, D. Scaramuzza, C. Pradalier, R. Siegwart, and Q. Chen, “Scene recognition with omnidirectional vision for topological map using lightweight adaptive

[5] Navid Nourani-Vatani and Cedric Pradalier, “Scene Change Detection for Vision-based Topological Mapping and Localization”, in International Conference on Intelligent Robots and Systems (IROS), 2010, pp. 3792–3797.

[6] M. W. and H. Y. Lin, “A hull census transform for scene change detection and recognition towards topological map building”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, Oct 2010, pp. 548–553.