The Measurement of Motion and Self-Location with Monocular of Humanoid Binocular Vision in an Unknown Environment

• Main Authors: Shiuan-Guang Lai, 賴璿光
• Other Authors: 陳傳生
• Format: Others
• Language: zh-TW
• Online Access: http://ndltd.ncl.edu.tw/handle/39732326981802571975

碩士 === 元智大學 === 機械工程學系 === 100 === In order to obtain the best application of automatization control, vision machine has been striving to provide mobile vehicle with robust and accurate moving actions by combining image process and auto-localization. The initial step of visual-based machine is to enable the machine to locate its coordinate and motion so as to track object, analyze poses of objects, and construct the map of overall environment. To achieve targets located in real time, this thesis chooses the fastest method of extraction feature - SURF ( Speeded-Up Robust Features ), which is the most suitable way to recognize feature extraction and mapping of the whole frame, to extract features as an image process of pre-localization. Subsequently, by using matching pair and fundamental matrix, we can know rotation matrix and translation matrix of CCD relative to the space. Owing to the emphasis on the process speed and accuracy, the thesis acquires an balance result: avoiding decreased features from causing incomplete matching and removing wrong matching points. The other characteristic of this thesis is that whenever we change a researching frame, we can, at the same time, match four different types of image input ( image-to-image, video-to-webcam, video-to-itself, video-to-other-video, )and always process it off-line in the C++ program without compiling, which is really convenient.