A Study on Autonomous Vehicle Navigation by 2D Object Image Matching and 3D Computer Vision Analysis for Indoor Security Patrolling Applications
碩士 === 國立交通大學 === 多媒體工程研究所 === 96 === A vision-based vehicle system for security patrolling in indoor environments using an autonomous vehicle is proposed. A small vehicle with wireless control and a web camera which has the capabilities of panning, tilting, and zooming is used as a test bed. At fir...
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ndltd-TW-096NCTU56410082015-10-13T13:51:49Z http://ndltd.ncl.edu.tw/handle/34337662999305229023 A Study on Autonomous Vehicle Navigation by 2D Object Image Matching and 3D Computer Vision Analysis for Indoor Security Patrolling Applications 以二維物體影像比對與三維電腦視覺分析作自動車航行之研究以及其於室內安全巡邏之應用 Kuan-Chieh Chen 陳冠傑 碩士 國立交通大學 多媒體工程研究所 96 A vision-based vehicle system for security patrolling in indoor environments using an autonomous vehicle is proposed. A small vehicle with wireless control and a web camera which has the capabilities of panning, tilting, and zooming is used as a test bed. At first, an easy-to-use learning technique is proposed, which has the capability of extracting specific features, including navigation path, floor color, monitored object, and vehicle location with respect to monitored objects. Next, a security patrolling method by vehicle navigation with obstacle avoidance and security monitoring capabilities is proposed. The vehicle navigates according to the node data of the path map which is created in the learning phase and monitors concerned objects by a simplified scale-invariant feature transform (simplified-SIFT) algorithm proposed in this study. Accordingly, we can extract the features of each monitored object from acquired images and match them with the corresponding learned data by the Hough transform. Furthermore, a vehicle location estimation technique for path correction utilizing the monitored object matching result is proposed. In addition, techniques for obstacle avoidance are also proposed, which can be used to find the clusters of floor colors, detect obstacles in environments with various floor colors, and integrate a technique of goal-directed minimum path following to guide the vehicle to avoid obstacles. Good experimental results show the flexibility and feasibility of the proposed methods for the application of security patrolling in indoor environments. Wen-Hsiang Tsai 蔡文祥 2008 學位論文 ; thesis 118 en_US |
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碩士 === 國立交通大學 === 多媒體工程研究所 === 96 === A vision-based vehicle system for security patrolling in indoor environments using an autonomous vehicle is proposed. A small vehicle with wireless control and a web camera which has the capabilities of panning, tilting, and zooming is used as a test bed. At first, an easy-to-use learning technique is proposed, which has the capability of extracting specific features, including navigation path, floor color, monitored object, and vehicle location with respect to monitored objects. Next, a security patrolling method by vehicle navigation with obstacle avoidance and security monitoring capabilities is proposed. The vehicle navigates according to the node data of the path map which is created in the learning phase and monitors concerned objects by a simplified scale-invariant feature transform (simplified-SIFT) algorithm proposed in this study. Accordingly, we can extract the features of each monitored object from acquired images and match them with the corresponding learned data by the Hough transform. Furthermore, a vehicle location estimation technique for path correction utilizing the monitored object matching result is proposed. In addition, techniques for obstacle avoidance are also proposed, which can be used to find the clusters of floor colors, detect obstacles in environments with various floor colors, and integrate a technique of goal-directed minimum path following to guide the vehicle to avoid obstacles. Good experimental results show the flexibility and feasibility of the proposed methods for the application of security patrolling in indoor environments.
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Wen-Hsiang Tsai |
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Wen-Hsiang Tsai Kuan-Chieh Chen 陳冠傑 |
author |
Kuan-Chieh Chen 陳冠傑 |
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Kuan-Chieh Chen 陳冠傑 A Study on Autonomous Vehicle Navigation by 2D Object Image Matching and 3D Computer Vision Analysis for Indoor Security Patrolling Applications |
author_sort |
Kuan-Chieh Chen |
title |
A Study on Autonomous Vehicle Navigation by 2D Object Image Matching and 3D Computer Vision Analysis for Indoor Security Patrolling Applications |
title_short |
A Study on Autonomous Vehicle Navigation by 2D Object Image Matching and 3D Computer Vision Analysis for Indoor Security Patrolling Applications |
title_full |
A Study on Autonomous Vehicle Navigation by 2D Object Image Matching and 3D Computer Vision Analysis for Indoor Security Patrolling Applications |
title_fullStr |
A Study on Autonomous Vehicle Navigation by 2D Object Image Matching and 3D Computer Vision Analysis for Indoor Security Patrolling Applications |
title_full_unstemmed |
A Study on Autonomous Vehicle Navigation by 2D Object Image Matching and 3D Computer Vision Analysis for Indoor Security Patrolling Applications |
title_sort |
study on autonomous vehicle navigation by 2d object image matching and 3d computer vision analysis for indoor security patrolling applications |
publishDate |
2008 |
url |
http://ndltd.ncl.edu.tw/handle/34337662999305229023 |
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