目標物追蹤之嵌入式居家看護機器人研究

蔡宗翰

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目標物追蹤之嵌入式居家看護機器人研究

The Study of an Home Living-Aid Robot Based on Target Tracking

蔡宗翰 , Masters　　Advisor：王榮泰　　

繁體中文

影像處理；自走車；嵌入式；服務型機器人；藍芽；樣本比對； Image processing ； self-propelled vehicles ； embedded ； service robots ； Bluetooth ； template matching

Abstract │ Reference (32) │ Times Cited (1) │ Altmetrics

Abstract 〈TOP〉

Parallel Abstract 〈TOP〉

To face the coming of an aging society with baby bust, both home security and elder care have become one of the important topics currently. Therefore, we design an intelligent robot with mobile security and home guard by using the embedded system to come over the above difficulties in this article. For the propsed service robot, it can carry out real-time target recognition, monitor and position, even in the the environment with less information.   
For the hardware framework, we use chip PIC16F877 to control the vehicle, which is equipped with intelligent mobile phone PDA (ASUS P552w) to implement real-time image capturing, image transmission and Bluetooth technologies, and so on. The capturing image will be transferred to the computer while the control signal being sent to the control-chip through the Bluetooth as a feedback in order to achieve the purpose of real-time guiding.
In the software framework, we employ the “template matching” to be the key of searching for the purpose of “Target Tracking”. After comparing the results of “SSD”,”NCC” and “color histogram matching”,we sent the location information to the “fuzzy system” as the tracking information using by Guidance system, and real-time image to user to achieve the tracking purpose.For “Get Target”, we use “Codebook background subtraction” to detect the invader.

Reference ( 32 ) 〈TOP〉

[4]曾宣僑，具人機互動能力之服務型機器人，成功大學工程科學所碩士論文，民國98年。
連結：
[5]蔡仲齡，含語者驗證之小型場所人臉辨識門禁系統的研發，成功大學工程科學所碩士論文，民國97年。
連結：
[6]黃泰祥，具備人臉追蹤與辨識功能的一個智慧型數位監視系統，中原大學電子工程研究所碩士論文，民國93年。
連結：
[7]蔡博智，影像追蹤方法應用在監視系統之研究，中原大學機械工程學系碩士論文，民國91年。
連結：
[9]黃敏峰，人臉追蹤法應用於監控系統之研究，成功大學電機工程研究所碩士論文，民國92年。
連結：

Times Cited (1) 〈TOP〉

林紹群(2012)。嵌入式機器人搭乘電梯之研發與實作。成功大學工程科學系學位論文。2012。1-74。

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