Vision-based Robot Self-localization and State Estimation of Moving Objects

• Main Authors: Yu-Wen Huang, 黃禹文
• Other Authors: Yin-Tien Wang
• Format: Others
• Language: zh-TW
• Online Access: http://ndltd.ncl.edu.tw/handle/04107522726124293755

碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 97 === In this thesis, a sensor module based on the method of image feature detection and tracking is developed, and provided for the robot system to carry out the tasks of self-localization and detection of the position and orientation of a moving object. The research is divided into four stages, including the detection and tracking of image features, the coordinate transformation method of an omnidirectional vision, the detection of the position and orientation for a moving object, and the system integration and experiments. The developed visual sensor module will be applied to the differential-drive mobile robot with an omnidirectional vision.