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研究生:鄭秉恩
研究生(外文):Ping-EnCheng
論文名稱:混合慣性與光學感測技術之互動式手寫筆系統之研製
論文名稱(外文):Development of a Hybrid Inertial-optical Interactive Handwritten Pen
指導教授:王振興王振興引用關係
指導教授(外文):Jeen-Shing Wang
學位類別:碩士
校院名稱:國立成功大學
系所名稱:電機工程學系碩博士班
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2012
畢業學年度:100
語文別:中文
論文頁數:61
中文關鍵詞:手寫筆慣性感測光學感測擴展式卡爾曼濾波器
外文關鍵詞:handwritten peninertial sensingoptical sensingextended Kalman filter
相關次數:
  • 被引用被引用:2
  • 點閱點閱:227
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  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:0
本論文旨在開發以慣性感測元件為基礎之手寫技術用以改善光學感測技術之互動式手寫筆現有的技術缺點,其主要目的為混合慣性及光學感測技術及開發相關慣性訊號演算法,使得互動式手寫筆成為一人性化人機互動介面。首先,我們整合慣性感測系統、光學感測系統與單晶片系統形成具即時運算功能之互動式手寫筆,並藉由射頻無線傳輸的方式將使用者握持手寫筆書寫時所產生的慣性及光學感測訊號傳送至電腦端,進行書寫軌跡補償及估測;其次,為了獲得準確的姿態估測,我們發展了一基於擴展式卡爾曼濾波器的慣性感測姿態估測演算法,用以降低慣性感測器訊號的雜訊及飄移在姿態估測上所造成的誤差。接著,我們利用該手寫筆研發高效能、低誤差的握筆姿態補償與提筆軌跡估測演算法。最後,經由實驗結果已成功地驗證互動式手寫筆具備下列特性與功能:(1)可準確地估測手寫姿態;(2)具二維平面書寫握筆姿態補償及提筆軌跡估測功能。
The objective of this thesis is to develop inertial-sensor-based handwriting technology to improve the existing technical disadvantages of optical interactive handwritten pens. At first, we integrate the inertial-sensing system, the optical-sensing system, and a single chip microcontroller into interactive handwritten pens, and the inertial and optical signals generated by handwriting movements are transmitted to a computer via a RF wireless transmission module. Subsequently, we utilized a sensor fusion algorithm based on an extended Kalman filter to minimize the cumulative errors caused by the intrinsic noise/drift of the inertial sensors. Then, through a firmware and software co-design method, we’ll develop interactive handwritten pens with the functions of pen-holding posture compensation and stroke segmentation trajectory estimation algorithm. Finally, the experimental results have successfully validated that the interactive handwritten pens with below innovative functions: (1) estimation of accurate hand movement orientations and (2) compensation of pen-holding postures and estimation of stroke segmentation trajectories in a two-dimensional writing plane.
中文摘要 i
英文摘要 ii
誌謝 iii
目錄 iv
表目錄 vi
圖目錄 vii
第1章 緒論 1
1.1 研究背景與動機 1
1.2 文獻探討 2
1.3 研究目的 5
1.4 論文架構 6
第2章 互動式手寫筆硬體架構 7
2.1 光學滑鼠之基本原理 7
2.2 互動式手寫筆 10
第3章 慣性感測訊號處理 11
3.1 慣性感測訊號前處理 11
3.1.1 慣性感測器校正 11
3.1.2 慣性感測訊號濾波 14
3.2 慣性感測姿態估測 14
3.2.1 姿態表示法 14
3.2.2 擴展式卡爾曼濾波器 16
3.2.2.1 狀態預測 17
3.2.2.2 狀態更新 17
第4章 互動式手寫筆之手寫技術應用 20
4.1握筆姿態補償演算法 20
4.1.1 座標轉換矩陣估測與書寫軌跡補償 21
4.2 2D提筆軌跡估測演算法 23
4.2.1 提筆斷字/換行偵測 24
4.2.2 座標轉換與重力補償 24
4.2.3 提筆軌跡估測 25
第5章 實驗結果 27
5.1 訊號前處理 27
5.2 握筆姿態補償 39
5.3 2D提筆軌跡估測 50
第6章 結論與未來展望 56
6.1 結論 56
6.2 未來展望 57
參考文獻 58
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