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    题名: 具備自然互動能力之智慧型家管機器人關鍵軟硬體組件之開發與整合-子計畫二:智慧型家管機器人之立體視覺以及多特徵物體辨識之設計與實現
    其它题名: Project Ii: Design and Implementation of Stereo Visual and Multiple Characteristic Object Recognition for Intelligent Home Care Robot
    作者: 江正雄
    贡献者: 淡江大學電機工程學系
    关键词: 機器人視覺;CCD感測器;物件辨識與追蹤模組;資料儲存與分類模組;雙眼視覺模組;多攝影機協同設計模組;身份與行為辨識模組;以及未知物品學習辨識模組;Robotic Vision;CCD Sensor;Object Recognition and Tracking Module;Data Storage and Classification Module;Stereo Vision Module;Multiple Camera Co-working Module;Identification and Behavior Module;Object Learning Module
    日期: 2010
    上传时间: 2011-07-06 13:57:16 (UTC+8)
    摘要: 在未來的家庭中,家管機器人將會是生活不可或缺的夥伴。機器人視覺為機器人系統中一個非常重要的關鍵,機器人必須使用機器人視覺來作空間定位、標的物辨識、目標距離估測、以及標的物座標判定,因此機器人視覺系統可說是機器人系統的靈魂。本研究計畫主要目的是要研製一系列供家管機器人使用的視覺系統模組,以利此家管機器人與家庭成員的互動。在機器人服務中,必須建立具人機互動生活伴侶機器人,以及人機學習互動生活伴侶機器人等功能,因此對視覺之需求非常殷切。我們計劃以CCD感測器搭配視訊監視器為本機器人視覺系統的視覺感測器,這個機器人視覺系統必須具備以下各模組:物件辨識與追蹤模組、資料儲存與分類模組、雙眼視覺模組、多攝影機協同設計模組、身份與行為辨識模組、以及未知物品學習辨識模組。 本研究計畫為一個三年期之研究計畫,第一年的研究主題為機器人視覺的技術開發,其中以進階電腦視覺技術為主,研發快速視覺處理之演算法,將所開發之演算法的模擬與驗證以Borland C++ Builder來實現。第二年之研究主題將延續第一年研發之演算法以Borland C++ Builder方式加以實現,而我們將進一步對機器人雙眼視覺加以研究,希望對機器人視覺模組作進一步的改良。第三年將所製作出來的多固定式攝影機配合移動式攝影機於總計畫之家管機器人中。
    Home care robot will become a part of our life in the future. Robotic vision is critical in the robot systems. Robot must use the robotic vision system to position itself, to recognize objects, to measure distance, and to find the coordinate of the objects. We can say that the robot vision is the soul of a robot. The objective of this proposed research is to design and develop a series of vision system modules for home care robots. The objective service robot will be used for the home care with some interaction abilities. In the service varieties of the home care robot, the robot must have the functions of human-machine interaction, and the human-machine interaction learning is established in the robot as well. Therefore, the robot needs a high quality vision system. We will use the CCD sensor and video surveillance as the robot vision sensor to develop the robot vision system. In order to fulfill all the service functions, the developed vision system must contain the following modules: object recognition and tracking module, data storage and classification module, stereo vision module, multiple camera co-working module, identification and behavior module, and object learning module. This proposal is for a three-year research. In the first year, we propose to develop the robot vision algorithms. After the development of the robot vision algorithms, we will simulate and verify them by the software platform, Borland C++ Builder. The second year proposes to extend the robot vision system developed in the first year by the software platform and further to set up a demonstration. We will also try to study the stereo vision system in more detail and expect to improve the robot vision module. In the third year, we propose to integrate multiple cameras and excursion cameras to the robot vision system for the home care robot.
    显示于类别:[電機工程學系暨研究所] 研究報告

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