利用離散影像中途點的室內機器人巡航系統｜國立臺灣科技大學博碩士論文系統

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研究生：	劉世寬 Shih-Kuan Liu
論文名稱：	利用離散影像中途點的室內機器人巡航系統 An Indoor Robot Navigation System Using Sparse Image Waypoints
指導教授：	項天瑞 Tien-ruey Hsiang
口試委員:	楊傳凱 Chuan-kai Yang 鄧惟中 Wei-chung Teng 陳建中 Jiann-jone Chen
學位類別：	碩士 Master
系所名稱：	電資學院 - 資訊工程系 Department of Computer Science and Information Engineering
論文出版年：	2011
畢業學年度：	99
語文別：	英文
論文頁數：	44
中文關鍵詞：	影像金字塔、對數極座標影像比對、尺度不變特徵轉換、對極幾何、光流法、直方圖等化、牆面跟隨演算法
外文關鍵詞：	image pyramid, Log-Polar image matching, Scale-Invariant Feature Transform (SIFT), Epipolar geometry, Optical flow, Histogram equalization, Wall Following Algorithm
相關次數：	點閱：319 下載：3
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本論文設計了一個利用分散圖片當作航點的室內服務機器人系統。當系統與實驗
環境部屬完之後，我們讓機器人走訪整個實驗環境同時利用usb 攝影機藉由擷取
圖片紀錄該過程，進而利用這些圖片自動計算出航點序列。為了讓導航模式更完
整我們定義了五種航點的種類。在基礎的方法之中，機器人利用比較快速的模式
去經過中介航點，接著利用較為精準的模式去調整並接近目的地。此外我們也提
出了另一種利用修改過的Log-Polar 比對導航方法去引導機器人返航。這個方法
不僅減少了在學習階段的時間也同時縮小了參考影像的資料厙大小。在基礎的方
法中我們減少了19 個百分比的導航時間藉由把快速模式應用到中介航點上。藉由
我們的自動選擇參考圖像的方法與快速的運動模式，一個160 公尺的模擬導航路
徑可在11 分鐘左右完成並且只有些許可容忍的誤差。

A prototype of indoor service robot system using sparse image waypoints to navigate is developed. Upon deployment, the robot visually learns the work environment by traversing along the topology of the environment and automatically computing missing waypoints between service locations. Five types of reference images are used by the robot. While approaching a service target, the robot adopts a fast motion mode when traveling between intermediate waypoints, then switch to accurate motion mode when it is close to the target. Also an alternative navigation approach is proposed which pilots the robot back to the home position by an modified log-polar matching method for a discernible feature environment. The approach reserves processing time for the pre-training phase and reduces the size of the reference image database. By applying the fast mode to pass intermediate waypoints, the navigation time is shortened about 19 percent compared with the previous work of Fu et al. With the reference images generate by the proposed method and the fast navigation mode, a 160 meter navigation route can be finished in about 11 minutes with tolerable errors.

論文指導教授推薦書. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . i
考試委員審定書. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ii
Abstract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv
誌謝. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
Table of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi
List of Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii
List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix
Chapter 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Chapter 2 Preliminary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.1 Log-Polar Transformation and Matching . . . . . . . . . . . . . . . . 4
2.2 Epipolar geometry and SIFT . . . . . . . . . . . . . . . . . . . . . . 5
2.3 Histogram Equalization . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.4 Wall Following Algorithm . . . . . . . . . . . . . . . . . . . . . . . . 6
2.5 Problem Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.6 Experimental platform . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 3 Fast motion mode with forward image cue . . . . . . . . . . . . . 11
3.1 Reference image construction procedure for fast mode . . . . . . . . . 11
3.2 The strategy to pass through the auxiliary marker . . . . . . . . . . . 15
Chapter 4 Alternative Backward Navigation Approach . . . . . . . . . . . . 17
4.1 Observations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.1.1 Noise in the middle part of image . . . . . . . . . . . . . . . . 17
4.1.2 The side of matching . . . . . . . . . . . . . . . . . . . . . . . 18
4.1.3 The order of scenery . . . . . . . . . . . . . . . . . . . . . . . 18
4.1.4 The geometric properties of scenery . . . . . . . . . . . . . . . 19
4.2 Modification of Log-Polar image matching for Alternative Backward
navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.3 Reference Image Construction for Alternative Backward Navigation . 20
4.4 Motion Model for Alternative Backward Navigation . . . . . . . . . . 22
4.4.1 The steering angle for the relative position between heading
of robot and waypoint . . . . . . . . . . . . . . . . . . . . . . 25
4.4.2 Absolute position of the two Log-Polar regions . . . . . . . . . 26
4.4.3 Mass of center of the two Log-Polar regions . . . . . . . . . . 28
4.4.4 Termination condition for each waypoint . . . . . . . . . . . . 31
Chapter 5 Numerical Results . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
5.1 Experiments of speed improvement for fast mode . . . . . . . . . . . 33
5.2 Experiments of service mission simulation for fast mode . . . . . . . . 35
5.3 Experiments of gap distance for backward navigation . . . . . . . . . 37
Chapter 6 Conclusions and Future Work . . . . . . . . . . . . . . . . . . . . 41
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

                                

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