| Summary: | 碩士 === 國立交通大學 === 資訊科學與工程研究所 === 94 === A vision-based vehicle system for security patrolling and danger condition monitoring in indoor environments using an autonomous vehicle is proposed. A small vehicle with wireless control and image grabbing capabilities is used as a test bed. A camera with panning, tilting, and zooming capabilities is used as the eye of the small vehicle. A vehicle location estimation method using house corners is proposed first. This is a vision-based estimation method to prevent the mechanic error accumulation in navigation. Next, several danger condition detection methods are proposed. We propose a method to change the path for obstacle avoidance in navigation using a map of nodes. To detect fire and lighting failure conditions, we monitor the image continuously and analyze the color feature in the HSI color model. We have also proposed a method for security monitoring of paintings on walls, including techniques of painting image rectification and matching. Good experimental results show flexibility and feasibility of the proposed methods for the application of indoor security patrolling.
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