應用於機器人視覺之多項式實距估測系統

Polynomial Real-Distance Estimation for the Visual Systems of Robots

呂軍毅(Jyun-Yi Lu)

指導教授 ： 廖梨君

朝陽科技大學/資訊學院/資訊工程系/碩士(2016年)

摘要

本研究提出一多項式實距估測法，並將此估測法直接應用於一機器人之視覺系統。由於搭載於機器人之攝影機，會因攝影機與拍攝面之高度與傾斜角，而使回傳至使用者端之影像產生變形，並且影像上兩像素間與所對應之實距關係亦非線性。為使使用者可簡單地直接於回傳影像上選擇機器人欲移動之目標距離，因此本研究提出，將回傳影像加以分割為數個區塊，並針對每個區塊以多項式的方法，來估測影像上兩像素間所對應之實際距離，並進一步藉此控制機器人之移動。由實驗可知，使用者可直接於回傳影像上點觸任兩點像素，而此多項式實距估測法，即可快速且正確的估算出實境中所對應之實際距離，並計算出機器人移動所需之參考數據。

關鍵字

機器人視覺系統 ； 多項式 ； 微處理機 ； 距離量測 ； 無線攝影機

並列摘要

This thesis proposed a polynomial real-distance estimation used for the visual systems of robots. Due to the factors of heights and titled angles between the camera and ground, the feedback images from the robot-end are distorted. The distances presented in the images can’t be linearly corresponded to the distances of reality. In order to control the robot directly by the feedback images, the images were separated to several blocks and each block was characterized by a polynomial used to estimate the real distance between two pixel-points. A user interface was also implemented to transfer the estimated real distances to control demands of the robot. As demonstrated in experimental results, users can choose two pixel-points on the feedback image, and the proposed method of polynomials can efficiently and correctly estimate the real distances.

並列關鍵字

polynomials ； microcontrollers ； distance measurement ； cameras ； visual system of robots

參考文獻

[1] Ming-Chih Lu, Wei-Yen Wang and Chun-Yen Chu, “ Image-Based Distance and Area Measuring Systems, ” IEEE SENSORS JOURNAL, VOL. 6, NO. 2, April 2006, pp. 495 - 503.

[2] Ming-Chih Lu, Chen-Chien Hsu, and Yin-Yu Lu, “ Image-Based System for Measuring Objects on an Oblique Plane and Its Applications in 2-D Localization, ” IEEE SENSORS JOURNAL, VOL. 12, NO. 6, June 2012, pp. 2249 - 2261.

[4] Carl Christian Liebe and Keith Coste, “ Distance Measurement Utilizing Image-Based Triangulation, ” IEEE SENSORS JOURNAL, VOL. 13, NO. 1, January 2013, pp. 234 - 244.

[5] Chen-Chien James Hsu, Ming-Chih Lu and Yin-Yu Lu, “ Distance and Angle Measurement of Objects on an Oblique Plane Based on Pixel Number Variation of CCD Images, ” IEEE TRANSACTIONS on INSTRUMENTATION and MEASUREMENT, VOL. 60, NO. 5, May 2011, pp. 1779 - 1794.

[6] Ming-Chih Lu, Chen-Chien Hsu and Yin-Yu Lu, “ Distance and angle measurement of distant objects on an oblique plane based on pixel variation of CCD image, ” INSTRUMENTATION and MEASUREMENT TECHNOLOGY CONFERENCE (I2MTC), May 2010, Austin, TX, pp. 318 - 322.