運用紅外線及雷射光於視覺式智慧型空間之機器人定位與地圖重建

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運用紅外線及雷射光於視覺式智慧型空間之機器人定位與地圖重建

Mobile Robot Localization and Map Building in a Vision-Based Intelligent Space with Infrared and Laser Lighting

莊竣壹 , Masters　　Advisor：張文中　　

繁體中文

智慧型空間；地圖重建；移動式機器人；機器人導航；機器人避障； Intelligent spaces ； Map building ； Mobile robot ； Robot navigation ； Obstacle avoidance

Abstract │ Reference (38) │ Altmetrics

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This paper presents an approach for mobile robot localization and map building in a vision-based intelligent spaceusing infrared, laser lighting and vision sensors. The vision-based intelligent space is composed of a network of uncalibrated ceiling-mounted IP cameras with overlapping areas. Two sensing systems are mounted on the mobile robot.
One consists of an infrared projector, an infrared filter and a camera. The other utilizes a laser projector and a camera. Map building is performed by capturing the projection of the beam from infrared or laser projector to reconstruct its three-dimensional coordinates. The local map in a camera's field of view is built by the sensing ystem mounted on the robot and the on-line calibrated IP cameras. Accordingly, the local maps can be integrated into a global map for mobile robot control task in the vision-based intelligent space. The proposed system has been successfully validated by navigating a custom mobile robot equipped with the two sensing systems in an indoor vision-based intelligent environment.

Reference ( 38 ) 〈TOP〉

[1] T. Sasaki, D. Brscicand, and H. Hashimoto. Implementation of distributed sensor network for intelligent space. In Proc. of the IEEE International Conference on Mechatronics, pages 1–6, Kumamoto Japan, May 2007.
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[3] K. Morioka T.-S. Jin and H. Hashimoto. Distributed sensor network for multi-agent motion tracking in intelligent. In Proc. of the SICE-ICASE International
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Joint Conference, pages 3716–3721, Busan, Korea, Oct. 2003.
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[4] J. Canou, C. Novales, G. Poisson, and P.Marche. Quick primitives extraction using inertia matrix on measures issue from an ultrasonic network. In Proc. of the IEEE International Conference on Robotics and Automation, pages
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[6] B. Sinopoli, C. Sharp, L. Schenato, S. Schaffert, and S. Sastry. Distributed control applications within sensor networks. Proc. of the IEEE, 91(8):1235–1246, Aug. 2003.
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