以Android手機影像追蹤實現載具同時定位與建圖｜國立臺灣科技大學博碩士論文系統

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研究生：	劉家榮 Chia-jung Liu
論文名稱：	以Android手機影像追蹤實現載具同時定位與建圖 Implementation of MonoSLAM by Android Phone on Robot Vehicle
指導教授：	高維文 Wei-Wen Kao
口試委員:	卓大靖 Dah-Jing Jwo 陳亮光 Liang-kuang Chen
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：	2012
畢業學年度：	100
語文別：	中文
論文頁數：	74
中文關鍵詞：	智慧型手機、Android 、特徵點追蹤、同時定位與建圖、室內定位、藍芽
外文關鍵詞：	Smartphone, Android, Feature tracking, SLAM, Indoor positioning, Bluetooth
相關次數：	點閱：288 下載：8
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上一筆

近年來，智慧型手機相當盛行，已經成為我們生活中不可或缺的物品，本論文的實驗是在二維平面上運動，以實現同時定位及環境地圖建製的目標。因此本論文主要是利用智慧型手機來開發手機應用程式，將Eclipse應用程式、Android NDK、Android SDK與Cygwin整合，再加入OpenCV影像追蹤的功能，以達到用手機的影像來追蹤特徵點，並且儲存特徵點在影像上的座標，以及配合著Bluetooth透過藍芽模組將載具直流馬達的Encoder資訊傳輸至手機。
本論文開發的影像追蹤是用影像處理將影像灰階度及二值化後用高斯濾波使圖面平滑，再用霍夫圓轉換對特徵點做追蹤，藉由影像得知特徵點資訊或相對關係以及相機所移動之距離，可推算出相機自身的位置與姿態的變化，並且同時定位及環境地圖建製。

In recent years, smartphones have been popular and become essential items in our lives. In this thesis, we experiment SLAM problem on two dimensional. Therefore, we use an Android smartphone to develop applications in this thesis. Developing Android applications needs the combination of Eclipse IDE application, Android NDK, Android SDK and Cygwin. The popular image processing library, OpenCV, was integrated into the application to perform features tracking algorithms. The application running in the smartphone stores the coordinates of features on the image, as well as acquires DC Motor encoder data from the robot via Bluetooth using a Bluetooth module onboard.
The image tracking process converts image into grayscale followed by binarization. Then, Gaussian filter was applied to make the image smooth. Finally, Hough Circles algorithm was used to do features tracking. We can use image to find features information or relative relationship of camera movement. We can estimate the intrinsic position and orientation of camera to do simultaneous localization and mapping.

摘要.............................................................................................................I
Abstract.....................................................................................................II
誌謝..........................................................................................................III
目錄..........................................................................................................IV
圖目錄.....................................................................................................VII
第一章	 緒論..............................................................................................1
1 前言.................................................................................................1
2 研究方法與目的.............................................................................2
3 文獻回顧.........................................................................................3
4 論文架構.........................................................................................4
第二章  理論背景....................................................................................6
1 SLAM介紹......................................................................................6
2 狀態模型.........................................................................................7
2.1 相機狀態向量..........................................................................7
2.2 逆深度參數化(Inverse Depth Re-parametrization)...............10
2.3 全狀態向量............................................................................11
3 量測方程式...................................................................................12
4 離散型卡爾曼濾波器(The Discrete KF) .....................................14
5 擴展式卡門濾波器.......................................................................20
第三章 系統架構....................................................................................26
1 車輛載具.......................................................................................26
1.1 二維空間狀態方程式............................................................29
1.2 藍芽通訊模組........................................................................31
2 智慧型手機...................................................................................32
2.1 影像追蹤................................................................................34
2.2 影像校正................................................................................36
2.3 簡化量測方程式....................................................................38
2.4 Jacobian矩陣計算..................................................................40
2.5 共變異矩陣計算....................................................................42
第四章 定位結果....................................................................................44
1 模擬結果.......................................................................................44
2 系統整合流程...............................................................................49
3 實驗環境.......................................................................................50
4 實驗結果.......................................................................................51
5 結果討論.......................................................................................69
第五章 結論與未來展望........................................................................70
1 結論...............................................................................................70
2 建議...............................................................................................70
3 未來展望.......................................................................................71
參考文獻..................................................................................................72

                                

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