本文旨在架設一距離量測模組，利用影像處理之技術，以雷射光作為輔助，進而估算出雷射光投影於待測物上之距離。以往利用影像測距多採用立體視覺法，而為了減少攝影機成本支出，以及免除兩部攝影機架設之精準度誤差，因此本文採用單一攝影機測距，以點狀或線狀雷射光源輔助，當待測物距離改變時，雷射光於影像中之位置亦不相同，根據此原理便可利用影像估測出待測物的距離。
除了距離量測模組之外，本文提出以影像亮度型心法與測距模組做結合，當此模組與自主型載具座結合時，系統可同時估測障礙物之距離和影像最大面積之亮度型心，並將該型心回饋給系統，可作為避障或導航之參考方位。經過簡單的實驗驗證，此模組可適用於陸上及水下，具有一定的參考價值。

The purpose of the present study is to install the distance-measuring module based on the image processing technique with laser instrument to estimate the distance of the expected object. The previous image distance-measuring technique usually adopted the stereo image method. In order to reduce the cost and avoid the installation errors between two cameras, the present study applies the single camera to estimate the distance and the point or line laser light is also integrated in the system. When the distance of the object changes, the position of the laser light on the object also changes, consequently the distance of the object can be estimated based on this principle. In addition to the distance –measuring, the study also submit a technique to relate the image brightness centroid method to the distance-measuring module. When the module is set on the AUV, the system can estimate the distance of the obstacle and the brightness centroid position of the maximum image area, and then the mass center can be fed back to the system as the reference for navigation. From the test results, we find that the module developed in the study can be applied to be not only in the air but also in the water, which is helpful to the underwater obstacle-avoidance technique in the future.

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