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| 研究生： |
柯霽祐 JI-YOU KE |
|---|---|
| 論文名稱： |
以Android行動裝置及雲端影像處理為基礎的主從式機器人 A Client-Server Robot Based on Android Device and Cloud Image Processing |
| 指導教授： |
高維文
Wei-Wen Kao |
| 口試委員: |
黃緒哲
Shiuh-Jer Huang 林紀穎 Chi-Ying Lin |
| 學位類別： |
碩士 Master |
| 系所名稱： |
工程學院 - 機械工程系 Department of Mechanical Engineering |
| 論文出版年： | 2016 |
| 畢業學年度： | 104 |
| 語文別： | 中文 |
| 論文頁數： | 52 |
| 中文關鍵詞： | 影像處理 、TLD 、物體追蹤 、Android 、物聯網 、雙輪運動機器人 |
| 外文關鍵詞： | image processing, TLD, object tracking, Android, IoT, 2dw robot. |
| 相關次數： | 點閱：241 下載：7 |
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智慧型手機人手一機，將人們帶入了物聯網時代。跟隨著時代的進步，演算的成本不斷下降，高品質的攝影機也越賣越便宜，而有許多高度依賴視覺的機器人不斷的上市。但對於機器人內建的處理器而言，影像處理的工作還是過於繁重，因此將繁重的運算交由雲端科技解決，是更理想的解決方式。
本論文題出自行建置一主從式系統架構，其中包含一台雙輪運動機器人，以及一個雲端的影像處理器。雙輪運動機器人上搭載了一台 Android 手機，於手機上運行NIO 伺服器，以傳送串流影像至雲端，以及接收雲端運算的結果，並以結果決定機器人的行動。雲端的影像處理器採用 TLD 演算架構，能夠追蹤任意物體，同時線上學習其物體辨識模型。雲端處理器也是於 Android 系統上執行。
The idea of the internet of Things (IoT) has been a heated topic for scholars and engineers since smartphone gained popularity among almost every person at every age. As the cost of both computing and high-quality camera are reducing, more and more robots with higher dependency on visual sensor have come to the market.Yet the loading of image processing for a built-in computer is still too heavy. Thus, a solution of combining cloud computing technology would be more ideal.
This research is based on a client-server architecture system we built, consisting of a 2WD (two-wheel drive) robot and a cloud image processor. The system is then modified to set up an IoT environment, serving as a backbone for the robot’s tracking function. The mobile robot in the system is equipped with an Android phone which is used as a server to transfer image stream to the cloud, and receiving the processed result, then determine the motion of robot. The image processor on the cloud is based on the TLD (Tracking-Learning-Detection) framework, it is able to track an arbitrary object and built the model for detection online. The image processor also run on Android OS.
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