淡江大學機構典藏:Item 987654321/74736
English  |  正體中文  |  简体中文  |  全文笔数/总笔数 : 54059/88894 (61%)
造访人次 : 10549528      在线人数 : 20
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜寻范围 查询小技巧:
  • 您可在西文检索词汇前后加上"双引号",以获取较精准的检索结果
  • 若欲以作者姓名搜寻,建议至进阶搜寻限定作者字段,可获得较完整数据
  • 进阶搜寻


    jsp.display-item.identifier=請使用永久網址來引用或連結此文件: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/74736


    题名: 立體視覺人形機器人於競走項目之實現
    其它题名: Stereo vision based humanoid robot design for sprint
    作者: 徐瑋甯;Hsu, Wei-Ning
    贡献者: 淡江大學電機工程學系碩士班
    翁慶昌;Wong, Ching-Chang
    关键词: 立體視覺;攝影機校正;特徵點擷取;特徵點匹配;類神經網路;Stereo Vision;Camera Calibration;Feature Points Extraction;Feature Points Matching;Neural Network
    日期: 2011
    上传时间: 2011-12-28 19:24:16 (UTC+8)
    摘要: 本論文設計實現一個具有兩個攝影機的立體視覺系統來探討目標物體的距離量測,並且將其應用於FIRA人形機器人競賽的競走項目。在目標物體的距離量測上,本論文探討攝影機參數的校正、特定目標的標定、特徵點的擷取、特徵點的匹配以及距離的量測,並且應用類神經網路做誤差修正來得到一個更正確的距離資訊,同時利用立體視覺的深度擷取特性以及特徵點的位置判別來讓機器人自主判斷其目前所在的位置,進而完成競走比賽的策略。實驗結果驗證本論文所提之類神經立體視覺演算法確實可以獲得較精確的距離資訊。
    A stereo vision system with two cameras is implemented in this thesis. Based on the stereo vision system, a distance measurement of a target object is investigated and applied to the Sprint event of FIRA HuroCup. In the distance measurement of the target object, these topics of the camera calibration, specific target selection, feature point extraction, feature point matching, and distance measurement are discussed. A neural network is used to obtain more correct measurement data. The depth capture of stereo vision and the location judgment of feature points are used to let the robot can autonomously determine its current location. Furthermore, the strategy for the Spring event of FIRA HuroCup is completed. Some experimental results and comparison are presented to illustrate the implemented method can indeed obtain more accurate distance information.
    显示于类别:[電機工程學系暨研究所] 學位論文

    文件中的档案:

    档案 大小格式浏览次数
    index.html0KbHTML136检视/开启

    在機構典藏中所有的数据项都受到原著作权保护.

    TAIR相关文章

    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - 回馈