臺灣博碩士論文加值系統

在本論文之目的，乃是運用影像處理技術以及利用光學等物理原理來做距離之檢測，以提供小型機器人可在行走路徑上之用來估測欲測物之Pattern的位置辨識及檢測，同時並結合使用廣角的魚眼鏡頭(Fisheye-Lens)來擷取全方位影像(Omnidirectional image)，再利
用Direct3D把影像當作紋理(Texture)貼圖並經由座標轉換後的影像來產生360°環場影像(Panoramic image)，則可利用此360°環場影像來作為監視小型機器人真實四周環境之系統。在本論文裡並嘗試將扭曲的環場影像補正的動作，而補正後的影像將可供自律型的小型機器人(Autonomous Small Robot)可辦識得場景之用。如此一來即可實現可在實際環境中行走時，兼具有全方位監視四周障礙物並躲避障礙物，而到達指定的位置的能力之自律性控制行走的小型機器人，因而可達到機器人競技及娛樂之效果。

The purpose of the thesis is to use image treatment technology and to make from its measuring to make use of physical principles ,such as optics ,etc.It is can offer small robot to estimate position of the Pattern ,to identify and to measure the Pattern at walking route,and to use the wide fisheye-lens to catch the omni-directional image at the same time. The principle is to regard image as the texture after transform the coordinate to produce 360 degrees of the panoramic image with Direct3D. This 360 degrees of the panoramic image can be used for monitoring the true system of the environment all around of the small robot. In this thesis also have try to compensate of the panoramic image,and the image after compensating can be done and known the scene by the autonomous small robot. It is can realize being while walking in the real environment,have omni-directional to monitor barrier all around and avoid barrier,reach designated of ability of position control autonomous small robot that walk.
It can get the result of sports and amusement of the robot.

中文摘要 ………………………………………………………… Ⅰ
英文摘要 ………………………………………………………… II

致謝………………………………………………………………… III

目錄………………………………………………………………… IV

圖表索引 ………………………………………………………… Ⅷ
第一章 緒論……………………………………………………… 1
1.1序言……………………………………………………… 1
1.2文獻探討………………………………………………… 2
1.3動機與目的……………………………………………… 4
1.4論文架構………………………………………………… 6
第二章 影像處理軟體開發工具…………………………… 8
2.1 Direct3D概論…………………………………………… 8
2.1.1 3D空間座標系統………………………………… 9
2.1.2 D3D繪製流程…………………………………… 16
2.2 Direct3D程式規劃流程………………………………… 17
2.2.1 D3D初始化與裝置建立………………………… 18
2.2.2 紋理貼圖………………………………………… 20
2.3 Direct3D虛擬攝影機定義……………………………… 21
2.4 DirectShow概論………………………………………… 23
2.4.1 DirectShow系統架構…………………………… 23
2.4.2 Direct3D環境中的DirectShow………………… 26
第三章 空間中物體位置之影像測距法…………………… 27
3.1影像系統硬體架構……………………………………… 27
3.2攝影機可視範圍………………………………………… 28
3.3影像視覺基礎理論……………………………………… 30
3.3.1影像座標系統定義……………………………… 30
3.3.2單眼3點式測距法………………………………… 31
3.3.3雙眼測距法……………………………………… 35
3.4影像處理技術…………………………………………… 39
3.4.1灰階處理………………………………………… 41
3.4.2影像二值化……………………………………… 42
3.4.3邊緣檢測………………………………………… 43
3.4.4角落偵測………………………………………… 45
第四章 360°環場影像之建構法……………………………… 46
4.1建立環場影像之硬體裝置……………………………… 46
4.2 環場影像建構之流程…………………………………… 47
4.2.1 建構軟體工具…………………………………… 48
4.2.2模型建構流程…………………………………… 48
4.2.3模型匯出與載入………………………………… 52
4.3 360°環場影像之轉換原理……………………………… 54
4.4可任意左右移動之360°環場影像架構………………… 57
4.5 360°環場影像功能模組規劃…………………………… 59
4.5.1畫面二分割與四分割模組……………………… 59
4.5.2 360°環場影像放大畫面之模組………………… 62
4.5.3局部視窗之左右上下移動及放大畫面之模組… 63
4.5.4可任意點選還原影像之子母畫面模組………… 64
4.6 360°環場影像之扭曲補正……………………………… 66
4.7 DirectInput輸入訊息之處理………………………… 68
4.7.1虛擬鍵編碼與處理……………………………… 68
4.7.2輸入訊息之處理與模式切換…………………… 69
第五章 測試分析與結果……………………………………… 70
5.1 影像測距法分析研究結果……………………………… 70
5.1.1深度誤差量與誤差百分比分析………………… 71
5.1.2 距離誤差量與誤差百分比分析………………… 80
5.1.3 結果比較………………………………………… 104
5.2 360°環場影像研究結果………………………………… 105
5.2.1環場影像扭曲補正研究結果…………………… 111
5.2.2 還原子母畫面之補正研究結果………………… 113
第六章 結論與未來展望……………………………………… 114
6.1 結論……………………………………………………… 114
6.2未來展望………………………………………………… 115

參考文獻…………………………………………………………… 116

[1] M.K.Leung,Y.Liu and T.S.Huang,"Estimating 3D Vehicle
Motion in An Outdoor Scene from Monocular and Stereo Image
Sequences",Proceedings of the IEEE Workshop,pp.62-68
,1991.
[2] R.Volpe,T.Litwin and L.Matthies,"Mobile Robot
Localization by Remote Viewing of a Colored Cylinder",
IEEE/RSJ International Conference,pp.257-263,1995.
[3] K.Owens and L.Matthies,"Passive Night Vision Sensor
Comparison for Unmanned Ground Vehicle Stereo Vision
Navigation",Computer Vision Beyond the Visible Spectrum:
Methods and Applications,1999.
[4] H.Kato and M.Billinghurst."Marker Tracking and HMD
Calibration for a Video-based Augmented Reality
Conferencing System".Proceedings of 2nd IEEE and ACM
International Workshop on Augmented Reality IWAR,
pp.85-94,1999.
[5] S.K.Nayar,"Omnidirectional Vision",In Proc. of Eighth
International Symposium on Robotics Research(ISRR),1997.
[6] S.Baker and S.K.Nayar,"Single Viewpoint Catadioptric
Cameras," Panoramic Vision: Sensors,Theory,2001.
[7] G.Adorni and M.Mordonini,"Omnidirectional stereo
systems for robot navigation,Dept." of Computer
Engineering,2002.
[8] K.Billinghurst,"Marker Tracking and HMD Calibration
for a video-based Augmented Reality Conferencing System."
In Proceedings of the 2nd International Workshop on
Augmented Reality (IWAR 99),1999.
[9] E.Woods,M.Billinghurst,J.Looser,G.Aldridge,D.Brown,B.
Garrie,C.Nelles."Augmenting the Science Center and
Museum Experience."In Proceedings of the 2nd international
conference on Computer graphics and interactive techniques
in Australasia and SouthEast Asia(Graphite 2004).15-18th
June,2004.
[10] J.Looser,M.Billinghurst and A.Cockburn. "Through the
looking glass: the use of lenses as an interface tool for
Augmented Reality interfaces."In Proceedings of the 2nd
international conference on Computer graphics and
interactive techniques in Australasia and SouthEast Asia
(Graphite 2004).15-18th June,2004.
[11] G.A.Lee,M.Billinghurst and G.J.Kim." Occlusion based
interaction methods for tangible augmented reality
environments. " In proceedings of the ACM Siggraph
International Conference on Virtual Reality Continuum and
its Applications in Industry (VRCAI 2004).15-18th June,
2004.
[12]V.Buchmann,S.Violich,M.Billinghurst and A.Cockburn.
"FingARtips – Gesture Based Direct Manipulation in
Augmented Reality."Proceedings of Graphite'04:
International Conference on Computer Graphics and
Interactive Techniques,pages 212-221,2004.
[13] Y.Xiong and K.Turkowski,"Creating Image-Based VR
Using a Self-Calibrating Fisheye Lens",Computer Vision
and Pattern Recognition 1997 Conference,San,1997.
[14] R.Swaminathan and S.K.Nayar,"Nonmetric calibration of
wide-angle lenses and polycameras,"IEEE Transactions on
Pattern Analysis and Machine Intelligence,pp.1172--1178,
2000.
[15]Totalview，http://www.behere.com
[16]DirectX9.0 Programmer´s Reference
[17]Frank D.Luna/黃聖峰，"3D遊戲程式設計入門使用
DirectX9.0實作"，博碩文化，(2004)
[18]Jim Adams/張世敏，"2D/3D RPG 角色扮演遊戲 程式設計
使用-DirectX"，博碩文化，(2003)
[19]鄭思堂，"3D程式設計基本心法"，金禾資訊，(2005)
[20]榮欽科技，"Visual C++ 遊戲設計魔法寶典"，��峯科技，(2004)
[21]鐘國亮，"影像處理與電腦視覺"，東華書局，(2004)
[22]陳志浩，"3DS Max 遊戲設計魔法書"，文魁資訊，(2003)