雷射掃瞄光束之影像處理應用於自走車的環境偵測

自走車最主要的問題就是要知道週遭的環境狀況，透過紅外線感測器與超音波或許可以得到較精準的距離，但卻無法掌握空間中更多的訊息如障礙物的大小、高度等，本研究提出新的障礙物及空間特性量測方法，主要是利用雷射掃描光束的角度與攝影機的安裝視角間的夾角不同所形成影像上的視差效果，只要簡單的影像處理方式便可偵測出空間中阻擋自走車行徑路線之物體的大小、高度、及距離等資訊，進一步推算閃避障礙物所需的距離及角度，作為自走車避障的依據；實驗結果顯示本研究所提出的方法，確實可以迅速的提供自走車行動控制時更豐富的空間特性資訊。

關鍵字

雷射掃描光束、影像處理、自走車

並列摘要

It is to know the environmental state of the surrounding area that the automobile main problem leaves by oneself, perhaps can get the more perfect distance with ultrasonic wave and infrared ray, but unable to grasp more information of the space such as size of barrier, highly etc. Originally research and propose the new barrier and characteristic amount of space and examine the method. Mainly utilize the parallax result from laser scan beam formed on the image different from contained angle among the installation visual angle of the camera of angle. It just simple image deal with way can is it measure space size, highly, and distance, etc of barrier. to calculate further that dodges the distance and angle that the barrier needs, basis that the automobile avoids being hindered as leaving by oneself; The experimental result shows this method put forward of research, more abundant space characteristic information while controlling the car leaves to take action by oneself in the offering that can really be fast.

並列關鍵字

AGV ； Image Processing ； Sweeping Laser beam

參考文獻

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[1]“Image segmentation studies＂ http://www.dcs.ex.ac.uk/research/pann/master/web2sreview.htm

Google Scholar

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