| Summary: | 碩士 === 國立交通大學 === 資訊學院碩士在職專班資訊組 === 98 === The main purpose of this thesis is to build a mobile robot system for the nighttime surveillance, which can also be used in the daytime. The system uses an IR camera and wireless device to make the mobile robot move unrestrictedly and can navigate at night at scheduled time. Through the wireless device, the remote control makes the system more convenient to use. Different from traditional surveillance system, users only need to set up the route for the mobile robot once by leading the robot toward the monitored object. For an object selected to be monitored, the system will record its contour and gray histogram as object features for object matching during the security patrolling. In this thesis, we estimate the contour of the object by Snake Algorithm ( Active Contour Model ), and with the gray histogram,do the judgment by using Hausdorff Distance and Histogram Intersection. The results of the experiment show the system is feasible can work satisfactorily.
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