Construction of Environment Map Using a Rotated Camera

• Main Authors: Wei Ting Lai, 賴偉廷
• Other Authors: Y. H. Chang
• Format: Others
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/07559212689231770897

碩士 === 長庚大學 === 電機工程學系 === 99 === This thesis mainly investigates how to construct the environmental map including the depth information by using a single camera. The camera is placed on the edge of a platform. Then, when the platform rotates along its body center, it can be equivalently considered that the images are taken by multiple cameras. In order to improve the searching efficiency and accuracy, the constraint of projection geometry is utilized to find an effective searching range. After obtaining the corresponding feature points, the distance between the feature point and the platform can be determined. Accordingly, the required environmental map can be constructed. In this thesis, an embedded system experiment platform is constructed to carry out the processing of edge detection, feature extraction and template matching. The experiments of feature similarity and camera rotation are utilized to adjust environment thresholds and angle parameters. Finally, the cloud-point diagrams performed with the MATLAB are used to verify the feasibility of proposed methods.