研究生: |
陳芝蓉 Chih-jung Chen |
---|---|
論文名稱: |
影像與感測器輔助之個人方位推估法計算 Pedestrian Dead-Reckoning Calculation based on Images and Sensors |
指導教授: |
高維文
Wei-wen Kao |
口試委員: |
陳亮光
Liang-kuang Chen 張淑淨 Shwu-jing Chang |
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: | 2008 |
畢業學年度: | 96 |
語文別: | 中文 |
論文頁數: | 140 |
中文關鍵詞: | 方位推估 、距離 、相片角度 、定位 、位移 |
外文關鍵詞: | Dead-Reckoning Calculation, Distance, Images angle, Position, Displacement |
相關次數: | 點閱:369 下載:2 |
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摘要
「你在哪裡?我在哪裡?」當你在陌生城市裡妳如何知道你身在何方?依靠地圖、記憶還是GPS。本文利用影像結合感測器來輔助個人的定位,找回屬於你自己的方位。
將影像與感測器結合,運用幾何原理達到方位推估法的計算,先用基本幾何原理計算出當特徵點在相片中心的距離,若特徵點不在相片中心時則使用相片偏差加以修正達到求得距離的目標,同一張相片若有兩個特徵點則推算其夾角,將以上所述的原理方法結合與運用可以在開放空間上定位拍攝點且知道兩拍攝點的位移距離,將所提出的原理方法經由實驗的證明,並在多方的驗證之下,證實本研究的實驗準確性與可行性。
希望在未來能實現將影像結合感測器運用在日常生活中所使用的手機上,進而實現個人定位之願景。
Abstract
Where you are? Where I am ? How do you know where you are in the strange city? Do you rely on paper map, your memory, or even GPS? This thesis try to propose a new method that utilizes the surrounding images combined with the sensors to assist the pedestrian locating problem and to find your own position.
By combining the images with sensor information, and use the principle of geometry, dead-reckoning calculation can be used to derive user positions and paths. First, using geometry the distance between a feature point and the camera can be calculated when feature is at center of images. If the feature were not at center of images, we could use the grid and scale of calibration sheet in the photo to get the distance between the feature and camera. If two features are at the same image, we can calculate the angle between the lines from camera to two features. By combining aforementioned method positions of camera can be calculated and subsequently the travel distance between two camera positions can be obtained. Experiments are conductd to verify the validity of the proposed method and the accuracy of the method is furtherly investigated via repeated experimentd.
It is hoped that the method that combined with sensors to derive positions can be built in cell phones in future to realize the prospect of pedestrian positioning.
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