定位是無線感測網絡的一個重要主題，能行使位置服務等運用。在室內環境中依靠射频量測，並依據訊號强度、到達時間(TOA)或到達角度(AOA)任一種方式定位，是眾所皆知的方法之一。特别的是基於射頻訊號强度(RSS)的方法有著隨手可得的量測資訊與廉價實現的優點而引人注目。但基於RSS定位的方法容易受到多路徑效應、訊號衰退、干擾…等環境因素所影響。本論文中，提出了融入於射頻系統的視覺系統，建立了強健性的定位功能。 在這結合射頻與視覺的架構下， 射頻系統提供資料傳輸，來源辨別，且粗糙式的量測方式，而視覺系統讓追蹤來源的功能更加完美。同時，可以簡化視覺資訊的計算處理，並且定位將更加的準確。 本論文所提出的研究方法經由移動機器人在室內環境的節點定位實驗所驗證。

Localization is an important topic in wireless sensor networks and location-based services. A well-known method for localization in indoor environment is to rely on radio frequency measurements in terms of signal strength, time-of-arrival, and/or angle-of-arrival. In particular, the received signal strength (RSS) based method is attractive due to its readily-available measurements and low-cost implementation. However, the RSS based method is subject to environmental effects such as multipath, fading, and interference. In the thesis, a vision system is fused with the RF system is establish a robust localization capability. Under this RF-vision framework, the RF system provides data communication, source identification, and coarse-range measurement and the vision system facilitate fine source tracking capability. Together, the visual signal processing tasks can be simplified and the location can be determined more accurate. The proposed approach is verified through a mobile robot tracking experiment in an indoor environment.

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