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研究生： 許益彰
Hsu, I-Chang
論文名稱： 室內自走車之視覺導航研究
Study on Vision-Based Navigation for an Indoor Mobile Robot
指導教授： 鄭銘揚
Cheng, Ming-Yang
學位類別： 碩士
Master
系所名稱： 電機資訊學院 - 電機工程學系
Department of Electrical Engineering
論文出版年： 2008
畢業學年度： 96
語文別： 中文
論文頁數： 82
中文關鍵詞： 視覺導航 、室內自動導航 、自走車
外文關鍵詞： mobile robot, autonomous navigation, vision-based navigation
相關次數： 點閱：144  下載：10 
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    • 自動導航一直是機器人相關研究中相當熱門的一項課題，目的在使
    機器人能對自己的動向做出自主性的判斷。其中視覺式的導航是藉由攝影機擷取外界資訊做分析，以達成自動導航的目的。相關的方法大致可分為地圖式導航、無地圖式導航及建立地圖式的導航等三種；然而不管是何種方法，通常都會用到大量電腦視覺及影像處理的技術，特別是在影像比對上。有鑒於此，本論文針對電腦視覺基礎知識，諸如攝影機模型、極線幾何與立體視覺等作一簡述；並針對一些常見的影像特徵點比對或追蹤方法加以介紹。最後，在視覺導航的部份，經比較各種方法之優缺點後，本論文選擇使用一種外觀式的導航方法來實現自走車自動導航。實驗結果顯示在特徵點能充分偵測及追蹤的情況下，自走車確實可以成功地達成室內自動視覺導航。

    Autonomous navigation is an important topic in robot-related research. In particular, vision-based navigation approaches exploit the environmentinformation obtained by the camera to achieve autonomous navigation. The existing vision-based navigation approaches can be divided into threecategories: map-building-based navigation, map-based navigation, and map-less navigation. No matter what kind of approaches is used, techniques related to the camera model, calibration, epipolar geometry, and stereo vision are very important in vision based navigation. Therefore, at first, a briefintroduction to these techniques as well as image feature matching will begiven in this thesis. After comparing the performance of different approaches,this thesis chose to employ an appearance-based approach to implement vision based navigation for a mobile robot. Experimental results indicate that the mobile robot can successfully perform vision based indoor navigation if
    the image features are appropriately detected and tracked.

    中文摘要...............................................I 英文摘要..............................................II 誌謝.....................................................III 目錄.....................................................IV 圖目錄.................................................VI 第一章 緒論..........................................1 1.1 前言.................................................1 1.2 研究動機與目的.............................2 1.3 文獻回顧.........................................2 1.4 本文架構.........................................4 第二章 攝影機簡介..............................5 2.1 前言.................................................5 2.2 攝影機透視投影模型.....................5 2.3 攝影機校準...................................12 2.3.1 基本關係式................................12 2.3.2 求內部參數................................14 2.3.3 求外部參數................................15 2.4 雙攝影機之幾何關係...................16 2.4.1 雙攝影機之極線幾何................16 2.4.2 立體視覺....................................18 第三章 影像特徵點............................21 3.1 前言...............................................21 3.2 特徵點偵測...................................22 3.2.1 Harris特徵點偵測.......................22 3.2.2 KLT特徵點偵測.........................25 3.2.3 SIFT特徵點偵測部份.................27 3.3 特徵點描述與比對或追蹤............33 3.3.1 影像樣板描述及相似度量測.....34 3.3.2 SIFT特徵點描述及比對.............36 第四章 視覺導航.................................39 4.1 前言................................................39 4.2 漸進式定位....................................39 4.3 外觀式視覺導航............................51 4.4 實驗結果........................................61 第五章 結論與建議.............................77 參考文獻..............................................79 自述......................................................82

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