本文首先提出一種影像式量測方法，用以量測傾斜面上目標物之距離及傾斜角度，作法上係使用一台PTZ(Pan/Tilt/Zoom) Camera作為攝影機具，利用其變焦功能模擬出不同攝影距離所產生影像畫面，再藉由目標物於影像畫面中像素值的差異，實現對於傾斜面上目標物體之距離與角度量測，並進一步完成目標物體之二維平面定位。最後，本文再以實際的量測定位實驗及記錄，證實此整合式系統的準確性及實用性。 This thesis presents an image-based system for measuring target objects on an oblique surface based on pixel variation of CCD images. By using the zooming function of a PTZ camera, we can simulate two images at two different photographing distances. By using the different pixel counts of the target object in the CCD image frame, two-dimensional localization of the target object on the oblique plane can be accomplished. To validate the effectiveness and viability of the proposed method, practical experiments are conducted in the thesis. Experiment results demonstrate that the proposed measuring system has a satisfactory accuracy in self-localization for mobile robots.
