載具裝置式雙雷射掃瞄系統於不平整地形之共時定位與地形建構

Vehicle-mounted twin laser scan system for simultaneous localization and mapping (SLAM) over uneven terrain

何嵩晟(Song-Cheng Ho)

指導教授 ： 卡艾瑋

國立臺灣大學/工學院/土木工程學研究所/碩士(2005年)

https://doi.org/10.6342/NTU.2005.02737

摘要

本論文為發展水下履帶式載具之成像系統之專文。因水下環境中不平整地形與低可見度限制了觀測僅限於載具鄰近的範圍，本研究試圖以車輛行進中以兩相互平行的雷射線，佐以單一攝影機成像掃瞄地形，藉此同時重構河床或海岸之地形並定位載具與地形之關係為目標。本論文三個章節著重分別於概念設計、數學模型與實驗。本文為嘗試解決機器人學之共時定位與地形建構問題。

關鍵字

共時定位與地形建構 ； 定位 ； 地形建構 ； 機械人學 ； 遠端控制載具 ； 影像量測

並列摘要

The present thesis is devoted to the development of an imaging system for an underwater tracked vehicle. The objective is to be able to map the topography of river or coastal floors, and at the same time to position the vehicle with respect to this topography. This is known in robotics as the Simultaneous Localization and Mapping (SLAM) problem. For underwater applications, special challenges arise due to the irregular nature of the topography and the low visibility. This effectively limits the imaging scope to the immediate neighbourhood of the vehicle. To address these challenges, the system proposed is based on two parallel laser sheets imaged by a single camera and scanning the ground in sequence as the vehicle progresses. Three chapters outline respectively the conceptual design, mathematical modeling, and experimental testing of this novel approach. The experimental tests are conducted outdoors, using an instrumented carriage to scan the topography of a textured bridge surface.

並列關鍵字

SLAM ； localization ； mapping ； Robotics ； ROV ； Imaging measurement

參考文獻

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