一般以影像為基礎的定位方式常使用單一相機配合連續拍攝影像，藉由影像變化來求解的單一相機定位法。本文藉由偵測影像內特徵點的位置或相對關係，可推算出特徵點的位置或相機自身的位置與姿態的變化。定位的演算若用於已知環境則僅利用已知特徵點位置求取相機位置；若於未知環境則可將特徵點位置及相機自身位置均視為未知，並使用同時定位與建圖(SLAM)的相關技術求解。本文先針對不同特徵點分佈在空間中的狀況進行系統模擬，最後在二維平面運動載具上實現。

The located method which based on image was used to use single camera with sequential images. It’s a single camera located method solved by image variations. In this thesis, we estimated the positions of the feature points or the intrinsic position and orientation of camera by feature points in the image. Located algorithm may only used the known feature points position to find the camera position if used in known environment. If it was used in the unknown environment, it may treat the positions of feature points and the intrinsic position of camera as unknown. Furthermore, it could be solved by using the technique of simultaneous localization and mapping. In this thesis, we executed the system simulation on the situation of different feature points distributed in the space first. Finally, we implement it on two dimensional robot vehicle.

[1] H. Durrant-Whyte and T. Bailey,” Simultaneous Localisation and Mapping (SLAM):Part I The Essential Algorithms” ,Robotics and Automation Magazine, pp.99-110, June, 2006.
[2] T. Bailey and H. Durrant-Whyte, “Simultaneous Localisation and Mapping (SLAM):Part II State of the Art,” Robotics and Automation Magazine, pp. 108-117,September, 2006.
[3] T. Bailey, “Mobile Robot Localization and Mapping in Extensive Outdoor Environments,” PhD Thesis, The University of Sydney, Australian Centre forField Robotics, 2002.
[4] http://big5.china.com.cn/chinese/TEC-c/133537.htm
[5] J. M. M Montiel, J. Civera, and A. J. Davison, “Unified Inverse Depth Parametrization for Monocular SLAM,” Robotics Science and Systems, RSS, Philadelphia, 2006
[6] P. Pinies, T. Lupton, S. Sukkarieh, and J. Tardos, “Inertial Aiding of Inverse Depth SLAM using a Monocular Camera,” IEEE Int. Conference on Robotics and Automation, ICRA, 2007.
[7] G. Farley and M. Chapman, “An Alternate Approach to GPS Denied Navigation based on Monocular SLAM Techniques,” ION National Technical Meeting, 2008.
[8] S. Sukkarieh, E. M. Nebot, and H. Durrant-White, “A High Integrity IMU/GPS Navigation Loop for Autonomous Land Vehicle Applications,” IEEE Trans. Robot. Automation, vol. 15, pp. 572-578, September 1999.
[9] 周祐行，整合雷射測距儀與視訊於行走型機器人路程規劃之研究，長庚大學機械工程研究所碩士論文，2007
[10] 翁茂耘，使用掃描式雷射測距儀於移動式機器人之地圖建構， 長庚大學機械工程研究所碩士論文，2008
[11] R. G. Brown and P. Y . C. Hwang, Introduction to Random Signals and Applied Kalman Filtering, John Willey&Sons, 3rd Ed., 1997.
[12] G. Welch and G. Bishop, “An Introduction to the Kalman Filter,” UNC-Chapel Hill, TR 95-041, March 11, 2002.

[13] J. Kim and S. Sukkarieh, “Airborne Simultaneous Localisation and Map Building,” IEEE Int. Conf. on Robotics and Automation, Taipei, Taiwan, September 2003.
[14] S. J. Julier and J. K. Uhlmann, “A New Extension of the Kalman Filter to Nonlinear Systems,” SPIE AeroSense Symposium, Orlando, FL., April 21–24,.1997.
[15] 黃富聖，基於全向式影像之機器人同步定位與環境地圖建立，國立交通大學電機與控制工程學系碩士論文，2008
[16] 王兆戊，全向式移動機器人之同步定位與環境地圖建立， 國立交通大學電機與控制工程學系碩士論文，2008
[17] R. Jain, R. Kasturi, and B. G. Schunck, Machine Vision, McGraw-Hill, 1995.
[18] Z. Zhang, “Flexible Camera Calibration by Viewing A Plane from Unknown Orientation,” 7th IEEE Int. Conf. Computer Vision, pp. 666–673, 1999.
[19] J. Heikkila and O. Silven, “A Four-step Camera Calibration Procedure with Implicit Image Correction,” Proc. IEEE Int. Conf. on Computer Vision and Pattern Recognition, San Juan, Puerto Rico, pp. 1106-1112, 1997.
[20] 阮堯輝，使用單一相機全向輪機器人之同時定位建圖與局部路徑規劃研究，國立中興大學機械工程學系碩士學位論文，2008
[21] 蔡政昇，物件/目標辨識與照相機校準技術進行連續性影像追蹤之應用，國立高雄應用科技大學電機工程系碩士論文，2010
[22] 葛定寰，非線性估測器於動態室內定位應用，國立台灣科技大學機械工程研究所碩士論文，2010
[23] 張弘毅，整合GPS與MEMS感測器於自行車導航系統之應用，國立台灣科技大學機械工程研究所碩士論文，2010
[24] 周亞慶，”模型車側滑運動分析與控制”， 國立台灣科技大學機械工程研究所碩士論文，2008
[25] Parallax Inc. , http://www.parallax.com/
[26] 飆機器人，http://www.playrobot.com/
[27] 鍾元基，”基於全方位視覺之機器人同步定位及建圖”，國立中正大學電機工程研究所碩士論文，2008
[28] J. M. M Montiel, J. Civera, and A. J. Davison,” Practical 2: SLAM using Monocular Vision”, SLAM Summer School,2006