實境電腦化重建技術與應用

機構典藏 > College of Engineering > Graduate Institute & Department of Electrical Engineering > Thesis > Item 987654321/88129

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Title:	實境電腦化重建技術與應用
Other Titles:	The computation technique in the reconstruction of field environment from SLAM generated data and its applications
Authors:	李維銘;Lee, Wei-Ming
Contributors:	淡江大學電機工程學系碩士班李楊漢;Lee, Yang-Han
Keywords:	同時定位與地圖創建;SLAM
Date:	2012
Issue Date:	2013-04-13 12:02:06 (UTC+8)
Abstract:	本論文，使用了原先幫助機器人做同時定位與地圖創建(Simultaneous Localization and Mapping ,SLAM)分析的裝置，它的名稱是UTM-30LX，因為它可以做即時的地圖建置，所以幫助人在周遭環境在看不清楚情形下，偵測周圍的活動範圍，再根據人和裝置間的相對位置，讓我們辨識出可以行走的方向和距離，本論文提出一個類似火場的情境，把生還者用一個箱子取代，放在角落，使得路徑長會變短，根據電腦接收裝置偵測到的數據做分析，看有沒有箱子擋住。首先我們先根據兩個場景做例子，判斷要擺放幾個位置可以建置整個圖形，之後每擺放一次，就取一次區塊的數值，先把這些數值由極座標的方式配置，再轉換一般的2維座標數值繪出，根據實際場景擺放位置間相對的座標長度，用拼出的方式建置出一個完整的場景圖。取出完整的場景圖後，就可以得知各個擺放位置間長度和座標點，在後面兩章根據這樣的條件，先讓兩個場景各別建置一個的火場情境，每個場景角落在擺一個箱子當生還者，前一章節我們用「資料庫路徑長位置比對法」的方式，先建置完所有門口到角落路徑長，之後根據擺放箱子後路徑長的變化值和位置，插入原先建置好的資料庫位置對應路徑值取代舊有的路徑值，之後跟原先的資料庫比較就得知哪個位置有箱子擋住，之後繪出新的路徑長，和計算出到箱子的路徑方位和長度，藉由無線網路的方式把資訊由電腦傳送到手機給測試人員做實際場景測試。再於花費的時間過長，本論文提出一個新的演算法，先寫一個在270度大小下偵測三個方位障礙物的演算法，之後根據固定距離的擺置方式，及時測到障礙物後，立即繪出到障礙物的路近長和方位，同時也把資訊透過無線網路的方式由電腦傳給手機給測試人員做實際場景測試，經過實際的錄影方式呈現後，測試人員皆可順利找到箱子，由於前一章和後一章所花費的時間差異大，整個建置的時間前一章大約要3小時，後一章只要20分鐘，相較之下後一章在火場的建置和救援應用下價值較高。關鍵詞 : 同時定位與地圖創建 In this thesis, the use of the device was originally to help robots to do the analysis of SLAM (Simultaneous the Localization and Mapping), it calls the UTM-30LX, because it can be done to reconstruct the map immediately, so it can help people not to see clearly the situation in the surrounding environment , around the detection range of activities, according to these two relative positions configuring between people and device, let us identify the direction and distance of walking and therefore propose a similar fire situations, it replaces survivors by a group box,and put on the corner to make the path length becomes shorter,final the computer accepts the data which the device detects for analysis to see whether there is a box to block or not. At first We based on two scenarios for example,determine to how many positions place can reconstruct entire map , and then placed at a time, take the value of one block, configure these values by the way of the polar coordinates, and then convert the general 2-dimensional coordinate values plotted according to the actual scene placed in position between the length of the relative coordinate and original point, so we use a method to reconstruct a complete scene graph by puzzle. Obtain the complete scene graph, you can see that the length and coordinates of points between placement of each block.Next two chapters under such conditions, let the two scenes individually build a fire situation, corner of each scene put a box instead of survivors. Previous section, we use such law which compares path length and position of database,first reconstruct completely all from the entrance to corner of the path length , and then is based on placing in a box to produce the value of path length and location changes, insert the pre-reconstruct location of database correspond to the value of path length to replace the old one, compared with the original database to know where the location of the box to block, and then draw the new path length, and calculate the orientation and length of the path of the box, the information is transfer from the computer to the phone by wireless network to make testers do the actual scenario testing. Second chapter based on the previous chapter, it takes the shortcomings of the build time is too long to do improve, the first to write an algorithm to detect the obstacle in the three azimuth within 270 degree size, followed by the placement of a fixed distance, After detecting obstacle immediately , and drawn the path length and the position between the door and the obstacle, the information is also transferred from the computer to the phone by wireless network to make tester do the actual scenario testing , testers can be successfully found the box after the actual recording presented, due to spend time very different between the previous chapter and after the chapter,the entire build time of the previous chapter need to 3 hours ,and after the one need to 20 minutes, Based on the results of comparison, after the one applied to rescue and reconstruct in fire situation which is higher worth.
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