本論文提出在室內環境中半人形導覽機器人之立體視覺與電梯按鈕偵測辨識及即時人臉偵測系統之設計與實現。本論文應用數種影像處理技術，包括紅色區域分析、侵蝕及擴張、邊緣偵測、鏈碼等方法偵測電梯按鈕位置，用電梯數字缺口方向之特徵對各電梯數字做編碼，利用該編碼辨識電梯數字，配合影像立體座標系統，以得到電梯按鈕相對於機器人之實際空間座標位置。在人臉偵測系統中，先分析出影像中膚色區域將其設定為可能的候選臉，再利用人臉特徵為包含黑白分明的雙眼及嘴唇相對於人臉區域中較鮮紅的特性，做為人臉的確認與偵測，以偵測環境中人員的位置。最後，藉由實驗之結果，來驗證所提方法之效能及適用性。

This thesis proposes a real-time image processing approach for face detection, elevator button recognition, and a stereo vision system for a semi-humanoid robot in an indoor environment. The thesis combines several image processing techniques, which include red region analysis, erosion and dilation, edge-detection, and chain codes to detect the position of the elevator button. The feature of each numeral gap direction is encoded on the button for number recognition and then combined with a three-dimensional coordinate system to acquire its relative coordinate from robot to button. This is done by analyzing the complexion region in the image to find face candidates and then using these characteristics, which are the black and white of the eye and lips as the redder region of the face, for verifying the detected face candidates. Moreover, the position of the person can be obtained in the environment. Finally, the practical experiments demonstrate the feasibility and effectiveness of the proposed schemes.

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