研究生: |
謝承哲 Cheng-Che Hsieh |
---|---|
論文名稱: |
移動機器人立體視覺測距及追蹤移動目標 Stereo Vision Range Estimation and Tracking a Moving Target for a Mobile Robot |
指導教授: |
施慶隆
Ching-Long Shih |
口試委員: |
劉昌煥
Chang-Huan Liu 陳志明 Chih-Ming Chen 黃志良 Chih-Lyang Hwang |
學位類別: |
碩士 Master |
系所名稱: |
電資學院 - 電機工程系 Department of Electrical Engineering |
論文出版年: | 2010 |
畢業學年度: | 98 |
語文別: | 中文 |
論文頁數: | 84 |
中文關鍵詞: | FPGA 、影像追蹤 、立體視覺 、移動機器人 |
外文關鍵詞: | FPGA, image tracking, stereo vision, mobile robot |
相關次數: | 點閱:267 下載:9 |
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本論文利用FPGA開發板結合兩個CMOS影像感測模組,建立自走車三維空間距離感測以及即時影像追蹤功能。自走車追蹤特定目標物之步驟為,首先藉由兩張成對的影像,經過影像處理找出具有相同特徵點的特定目標物,利用立體影像三角成像原理計算出特定目標物與自走車的距離。經由所得到的特定目標物位置以及距離資訊,系統可自動控制自走車的移動,使自走車追蹤特定目標物,並與特定目標物保持一定距離。操作者也可透過無線藍牙方式以手動控制模式引導自走車移動。
The thesis aims to utilize a FPGA development platform with two CMOS image sensors to build three-dimensional distance estimation function for a mobile robot as well as a real-time image tracking function. The steps for tracking a specific target of a mobile robot are as follows. At first, a pair of images is used to find a specific target which has the same image features. After that the triangular perspective theory of the stereo vision is used to calculate the distance between a specific target and the mobile robot. Furthermore, a mobile robot can also move autonomously by knowing the distance between a specific target and itself, so that it can track the specific target and keep a fixed distance ahead. User can also guide the mobile robot in manual control mode via the Bluetooth wireless.
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