Goal Seeking System Based on Panoramic Vision Technology in Autonomous Mobile Robot
碩士 === 國立臺灣科技大學 === 自動化及控制研究所 === 99 === The robots have been used in various fields, and they also have replaced people’s works which are dangerous. For instance, space adventure, mine detection, and even bomb disarmed. Therefore, the robots need more multi-function and precisely sensing. General r...
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ndltd-TW-099NTUS51461552019-05-15T20:42:07Z http://ndltd.ncl.edu.tw/handle/dvuum4 Goal Seeking System Based on Panoramic Vision Technology in Autonomous Mobile Robot 基於全景式影像技術之自主目標搜索移動機器人 Tzu-yuan Chang 張子源 碩士 國立臺灣科技大學 自動化及控制研究所 99 The robots have been used in various fields, and they also have replaced people’s works which are dangerous. For instance, space adventure, mine detection, and even bomb disarmed. Therefore, the robots need more multi-function and precisely sensing. General robot use monocular camera to capture images within the camera view. Others use dual cameras to build stereo vision which detect the object distance. Those applications cannot sense all the environment information that is outside the camera view. As the result, we use PTZ (pan tilt zoom) camera to take several overlapping images in different directions. Then we stitch all the images together to form a 360 degree panorama image. By using panorama view, we can easily detect the objects that we want, and control the mobile robot to move toward the targets. This thesis uses highly distinctive feature descriptor (HDF) based on scale invariant feature transform (SIFT) to find the matching features between two overlapping images. Then eliminate the wrong matching pairs by RANSAC, and perform the cylindrical projection, image alignment and image blending. Finally we stitch the image and find out the objects by using ellipse fitting. Once we have the objects, the robot will touch the closest one. Min Fan Ricky Lee 李敏凡 2011 學位論文 ; thesis 105 en_US |
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碩士 === 國立臺灣科技大學 === 自動化及控制研究所 === 99 === The robots have been used in various fields, and they also have replaced people’s works which are dangerous. For instance, space adventure, mine detection, and even bomb disarmed. Therefore, the robots need more multi-function and precisely sensing.
General robot use monocular camera to capture images within the camera view. Others use dual cameras to build stereo vision which detect the object distance. Those applications cannot sense all the environment information that is outside the camera view. As the result, we use PTZ (pan tilt zoom) camera to take several overlapping images in different directions. Then we stitch all the images together to form a 360 degree panorama image. By using panorama view, we can easily detect the objects that we want, and control the mobile robot to move toward the targets.
This thesis uses highly distinctive feature descriptor (HDF) based on scale invariant feature transform (SIFT) to find the matching features between two overlapping images. Then eliminate the wrong matching pairs by RANSAC, and perform the cylindrical projection, image alignment and image blending. Finally we stitch the image and find out the objects by using ellipse fitting. Once we have the objects, the robot will touch the closest one.
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Min Fan Ricky Lee |
author_facet |
Min Fan Ricky Lee Tzu-yuan Chang 張子源 |
author |
Tzu-yuan Chang 張子源 |
spellingShingle |
Tzu-yuan Chang 張子源 Goal Seeking System Based on Panoramic Vision Technology in Autonomous Mobile Robot |
author_sort |
Tzu-yuan Chang |
title |
Goal Seeking System Based on Panoramic Vision Technology in Autonomous Mobile Robot |
title_short |
Goal Seeking System Based on Panoramic Vision Technology in Autonomous Mobile Robot |
title_full |
Goal Seeking System Based on Panoramic Vision Technology in Autonomous Mobile Robot |
title_fullStr |
Goal Seeking System Based on Panoramic Vision Technology in Autonomous Mobile Robot |
title_full_unstemmed |
Goal Seeking System Based on Panoramic Vision Technology in Autonomous Mobile Robot |
title_sort |
goal seeking system based on panoramic vision technology in autonomous mobile robot |
publishDate |
2011 |
url |
http://ndltd.ncl.edu.tw/handle/dvuum4 |
work_keys_str_mv |
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