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研究生：	何佳瑋 Raphalen, Léon
論文名稱：	服務型機器人對於人的辨認，追蹤及導引功能的開發與實做 Human Detection and Tracking with Visual Odometry and Automatic Vehicle Control
指導教授：	譚俊豪 Tarn, Jiun-Haur
學位類別：	碩士 Master
系所名稱：	工學院 - 航空太空工程學系 Department of Aeronautics & Astronautics
論文出版年：	2018
畢業學年度：	106
語文別：	英文
論文頁數：	56
外文關鍵詞：	Computer Vision, Control Theory, Human Detection, Human Tracking, Loop Closure, Mechatronics, MPC, ROS, SIFT, SURF, SLAM, Track Following, Visual Odometry
相關次數：	點閱：134 下載：3
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This Master's Thesis presents a robot designed for guiding and tracking people from one point to another using only a Kinect as sensor.

Using Speeded-Up Robust Features feature extraction, keypoints are retrieved from the images and stored using the Bag-of-Word model.
A simultaneous localization and mapping program then performs loop closure to create maps in which the vehicle can localize itself.

Based on a reference path and the vehicle dynamic model, a Model Predictive Control algorithm is used to produce steering angle and velocity inputs designed to optimize a track following trajectory.
The cost function takes into consideration input variation to provide a smoother trajectory for the user to follow.

Finally, depth clustering and bin summing performed on the point clouds to extract regions of interest ready for upper-body detection.
The person detections are then transmitted to a multi-hypothesis tracker that determines overlap-free people tracks over time.
The vehicle control inputs are then transmitted to the vehicle controller based on the detection and tracking of the user to be guided.

This Master's Thesis thus provides a real-time operating framework able to automatically guide its user along a smooth track while monitoring his presence.

Declaration of Authorship iii
Abstract iv
Acknowledgements v
Introduction 1
1 Project Introduction . . . . . . . . . .  . . . . . . . . . . . . . . . . . . . . 1
2 Case Scenario . . . . . . . . . . . . .  . . . . . . . . . . . . . . . . . . . . 2
3 Related Work . . . . . . . . . . . . .  . . . . . . . . . . . . . . . . . . . . 2
Hardware Presentation 4
1 Vehicle Structure . . . . . . . . . . .  . . . . . . . . . . . . . . . . . . . . 4
2 Electronics . . . . . . . . . . . . . . .  . . . . . . . . . . . . . . . . . . . . 5
Software Architecture 8
1 ROS . . . . . . . . . . . . . . . . . . .  . . . . . . . . . . . . . . . . . . . . 8
1.1 Robotics Middleware . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2 Intracommunication System . . . . . . . . . . . . . . . . . . . . 8
2 Softwares Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1 OpenNI - Sensor Interface . . . . . . . . . . . . . . . . . . . . . . 10
2.2 RTAB-Map - Visual Odometry and On-Line Loop Closure . . . 10
2.3 MPC - Automatic Vehicle Control and Track Following . . . . . 10
2.4 Spencer - Human Detection and Tracking . . . . . . . . . . . . . 10
2.5 Loco - Actuator Interface . . . . . . . . . . . . 11
RTAB-Map: Visual Odometry and On-line Mapping 12
1 Feature Representation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.1 Scale-Space Extrema Detection . . . . . . . . . . . . . . . . . . . 12
1.2 Keypoint Localization . . . . . . . . . . . . . . . . . . . . . . . . 14
1.3 Orientation Assignment . . . . . . . . . . . . . . . . . . . . . . . 15
1.4 Local Image Description . . . . . . . . . . . . . . . . . . . . . . . 16
2 Bag-of-Word Model Map Initialization . . . . . . . . . . . . . . . . . . . 17
2.1 Codebook Generation . . . . . . . . . . . . . . . . . . . . . . . . 18
2.2 Keypoint Matching . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.3 Camera Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.4 Map Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3 Appearance-Based Loop Closure . . . . . . . . . . . . . . . . . . . . . . 20
3.1 Memory Management . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 Location Creation . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.3 Weight Update . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.4 Bayesian Filter Update . . . . . . . . . . . . . . . . . . . . . . . . 24
3.5 Loop Closure Hypothesis Selection . . . . . . . . . . . . . . . . 25
3.6 Retrieval Process . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.7 Transfer Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.8 Map Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4 Project Integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.1 Image Retrieval . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.2 Frames Publication . . . . . . . . . . . . . . . . . . . . . . . . . . 28
MPC: Automatic Track Following 30
1 Optimization Problem Formulation . . . . . . . . . . . . . . . . . . . . . 30
1.1 Control Algorithm Principle . . . . . . . . . . . . . . . . . . . . 30
1.2 Optimization Problem Formulation . . . . . . . . . . . . . . . . 31
1.3 Parameters and constraints definition . . . . . . . . . . . . . . . 32
2  Simulation Representation . . . . . . . . . . . . . . . . . . . . . . . . . . 33 
2.1 Track representation . . . . . . . . . . . . . . . . . . . . . . . . . 33 
2.2 Vehicle Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 
2.3 Software Support . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3  Track Following . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36  
3.1 Initial Cost Function . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.2 Variation-Limiting Tuning . . . . . . . . . . . . . . . . . . . . . . 37 
3.3 Track Following Simulation . . . . . . . . . . . . . . . . . . . . . 38
4  Project Integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39  
4.1 Odometry Retrieval . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.2 Control Inputs Publication . . . . . . . . . . . . . . . . . . . . . 40  
Spencer: Human Detection and Tracking 42
1 Point Clustering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42  
1.1 Ground Plane Estimation . . . . . . . . . . . . . . . . . . . . . . 42  
1.2 Structure Labeling . . . . . . . . . . . . . . . . . . . . . . . . . . 43
1.3 Regions of Interest Extraction . . . . . . . . . . . . . . . . . . . . 43  
1.4 Quick Shift Segmentation . . . . . . . . . . . . . . . . . . . . . . 45
2  Upper-Body Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47  
2.1 RoI Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.2 Local Contour Maxima . . . . . . . . . . . . . . . . . . . . . . . . 48  
2.3 Template Sliding . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 
2.4 Detection Refining . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3  Multi-Hypothesis Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . 51 
3.1 Hypothesis Detection . . . . . . . . . . . . . . . . . . . . . . . . 51
3.2 Bi-Directional Trajectory Estimation . . . . . . . . . . . . . . . . 52
3.3 Hypothesis Selection . . . . . . . . . . . . . . . . . . . . . . . . . 53
4 Project Integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 
4.1 Image, Mapand Navigation Retrieval . . . . . . . . . . . . . . . 54 
4.2 Navigation Forwarding . . . . . . . . . . . . . . . . . . . . . . . 55
Conclusion 56 
Bibliography 57
                                    

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