跳到主要內容

臺灣博碩士論文加值系統

(44.192.48.196) 您好!臺灣時間:2024/06/23 19:33
字體大小: 字級放大   字級縮小   預設字形  
回查詢結果 :::

詳目顯示

: 
twitterline
研究生:謝昌志
研究生(外文):SIE,CHANG-JHIH
論文名稱:以多觀測點系統進行空間座標定位
論文名稱(外文):The spatial coordinates repositioning using a multi-view system
指導教授:游孟潔游孟潔引用關係
指導教授(外文):Meng-Jey Youh
口試委員:金鴻鈞曾俊龍
口試委員(外文):Hong-Jueng KingChun-Lung Tseng
口試日期:2011-05-17
學位類別:碩士
校院名稱:醒吾技術學院
系所名稱:資訊科技應用研究所
學門:電算機學門
學類:電算機一般學類
論文種類:學術論文
論文出版年:2011
畢業學年度:99
語文別:中文
論文頁數:89
中文關鍵詞:室內定位多觀測點系統
外文關鍵詞:OpenCVindoor repostionmulti-view system
相關次數:
  • 被引用被引用:0
  • 點閱點閱:340
  • 評分評分:
  • 下載下載:43
  • 收藏至我的研究室書目清單書目收藏:0
本研究以多觀測點進行空間座標定位系統開發。所使用的步驟包含單雙攝影機結合棋盤法定位、單雙紅外線攝影機的單點及四點定位、物體距離與視差值關係建立、最後完成座標系統建置。為達到前述目的,本研究利用OpenCV立體標定函式與立體校正來找出目標座標系統。機器能夠藉由人們一次動作的軌跡建立物體距離與視差值關係,來達到快速空間座標定位的目的。在進行重複同樣的動作時,亦可紀錄多次的軌跡給予機器做為修正的參考。所建造完成的系統具低成本、高精度、低誤差及操作簡易等特性。所求得的空間座標定位軌跡可用於機器手臂之上進行3D圖像重建。研究成果可應用於工業及高科技產業上,使得機器手臂的建置成本降低及精準度提高,進而節省大量成本與人力與提升產品品質。另外亦可藉由手動軌跡與機器學習的方式來進行軌跡設定,使得維修與參數設定方式變得更加便利。
關鍵詞:OpenCV、室內定位、多觀測點系統
A multi-view system for spatial coordinates repositioning was build in this study. The steps include single and double cameras with the chesses board reposition, single and double infrared cameras with single-point or four-point repositioning, obtaining the relationship between distance and disparity and the building the coordinate system, was used in this study. To achieve this purpose, the three-dimensional OpenCV function and calibration was used in the study for finding out the target coordinate system.
The rapid coordinate repositioning can be achieved by obtaining the relationship between distance and disparity from a single movement of user.
The repeat motions also can be used as the reference point for the error correction of the machine moving. The characteristics of the complete system will be low-cost, high precision, low error and easy to operate. It also can be applied for 3D model reconstruction of the robot moving trajectory. The Results of this study can be used in industrial and high-tech industries that including reduction the building cost of making the robotic arm, improving accuracy, saving a large amount of manpower and improve product quality.

It also can become more convenient to make maintenance and setup the parameter when machine learning was conducted by trace manually moving trajectory.
Keywords: OpenCV、indoor repostion、multi-view system

摘要 i
ABSTRACT ii
誌謝 iv
目錄 v
表目錄 vii
圖目錄 viii
1. 緒論 1
1.1. 前言 1
1.2. 研究目的 1
1.3. 研究步驟 2
1.4. 預期成果 3
1.5. 論文架構 3
2. 文獻探討 4
2.1. 立體成像視差原理 5
2.2. 單攝影機投影模型 6
2.3. 多觀點定位原理討論與介紹 10
2.4. 其他相關應用 18
3. 研究方法 25
3.1. 軟硬體設備 25
3.2. 系統架構 27
3.3. 流程與架設 28
4. 研究結果與討論 34
4.1. 單可見光攝影機結果與討論 34
4.2. 雙可見光攝影機結果 37
4.3. 紅外線攝影機(WiiMote) 結果與討論 49
5. 結論 69
參考文獻 70


1.R. H. a. A. Zisserman, "Multiple View Geometry in Computer VisionSecond Edition: Cambridge University Press", 2004.
2.Gary Bradski, Adrian Kaehler, "Computer Vision with the
OpenCV Library", O'Reilly,2008.
3.J. J. O’Connor and E. F. Robertson,“Light through the ages: Ancient Greece to Maxwell,”http://www-groups.dcs.st-and.ac.uk/~history/HistTopics/Light_1.html
4.B. Jaehne, "Digital Image Processing", 3rd ed., Berlin: Springer-Verlag, 1995.
5.B. Jaehne, "Practical Handbook on Image Processing for Scientifi c Applications,Boca Raton", FL: CRC Press, 1997.
6.D. Forsyth and J. Ponce,"Computer Vision: A Modern Approach, Englewood Cliff s,"NJ: Prentice-Hall, 2003.
7.R. Hartley and A. Zisserman,"Multiple View Geometry in Computer Vision,Cambridge,"UK: Cambridge University Press, 2006.
8.L. G. Shapiro and G. C. Stockman,"Computer Vision,"Englewood Cliff s, NJ:Prentice-Hall, 2002.
9.D. C. Brown, “Close-range camera calibration,” Photogrammetric Engineering37: 855–866,1971.
10.J. G. Fryer and D. C. Brown,“Lens distortion for close-range
photogrammetry,”Photogrammetric Engineering and Remote
Sensing 52 : 51–58,1986.
11.R. Hartley and A. Zisserman,"Multiple View Geometry in Computer Vision,Cambridge,"UK: Cambridge University Press, 2006.
12.D. Forsyth and J. Ponce, Computer Vision: A Modern Approach, Englewood Cliff s, NJ: Prentice-Hall, 2003.
13."Flexible Camera Calibration By Viewing a Plane From Unknown
Orientations,Zhengyou Zhang,"Microsoft Research, One MicrosoftWay, Redmond,WA 98052-6399, USA.
14.L. B´elanger and S. Roy, D´ep. d’informatique et de recherche op´erationnelle, Universit´e de Montr´eal, CP 6128 Succ. Centre-Ville Montr´eal (Qu´ebec),"Virtual 3D drawing tool for stage performances,"H3C 3J7,April 7, 2009.
15.林彥廷,馮明華,張振綸,黃冠雄博士,"三維空間幾何圖形之重建"
南華大學資訊工程學系,2008.
16.莊仁輝, 連震杰, 高肇宏, 張柏仁, 鄭兆良,"個人助理機器人關鍵視覺功能之建立與應用(I),"國立交通大學資訊科學學系
(所),2005,10,27
17.Johnny ChungLee-Human Computer I nteraction Research,
http://johnnylee.net/.
18.李錦鳳、蔡坤育、林廷融、王品智," 使用雙紅外線攝影機進行光學觸控界面開發,"醒吾技術學院資訊科技專題實作成果報告書,2010.
19.游孟潔、郭津伊、謝昌志、賴友川,“ 用於停車輔助之紅外線定位系統開發”, 2009年資訊服務與創新應用學術研討會
20.P. F. Sturm and S. J. Maybank, “On plane-based camera calibration: A general algorithm, singularities, applications,” IEEE Conference on Computer Vision and Pattern Recognition, 1999.
21.Z. Zhang, “Flexible camera calibration by viewing a plane from unknown orientations,” Proceedings of the 7th International Conference on Computer Vision (pp. 666–673), Corfu, September 1999.
22.Z. Zhang,“A fl exible new technique for camera calibration,”
IEEE Transactions on Pattern Analysis and Machine Intelligence 22 : 1330–1334,2000.

QRCODE
 
 
 
 
 
                                                                                                                                                                                                                                                                                                                                                                                                               
第一頁 上一頁 下一頁 最後一頁 top