本研究將以影像點特徵追蹤與偵測方法規劃機器人的感測模組，以提供機器人系統進行自我定位，以及偵測移動物體的位置與方向。研究的內容包括四個部份，分別是偵測與追蹤影像特徵、全方位視覺二維像素座標轉三維空間座標、移動物體方向與位置偵測、以及系統整合與功能測試等。發展的視覺式感測模組將應用在具備全方位視覺的差速移動機器人系統上。 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.
