| Summary: | 碩士 === 國立交通大學 === 多媒體工程研究所 === 95 === The goal of this study is to automatically calculate robot locations in an indoor environment using computer vision-based techniques. The main concept is based on homographies that model the geometric transformations between images captured by a camera and the workspace of a planar environment. Specifically, we propose two localization methods: (i) localization based on repeated computation of homographies using image features in each frame and (ii) localization based on a single planar transformation by evaluating relative motion of landmarks in the workspace w.r.t. the robot. For (i), one can show that it is equivalent to the localization method based cross-ratio proposed previously. If minimum number of image features are used. While (i) can be extended directly to take into account more image point features, extensions of the cross-ratio based method is not straightforward. On the other hand, experimental results show that (i) is more accurate than (ii); however (ii) is more simple and can provide useful localization results by locating robot positions in small range.
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