1 / 26

Following Autonomous Mobile Robot

Following Autonomous Mobile Robot. Outline. 機器人架構 跟隨機器人運作流程 LED 法 ODCS-SIFT 法 (hybird 法 ). 機器人架構. 機器人架構. 連線方法. 跟隨機器人運作流程. Human Following Behavior of an Autonomous Mobile Robot Using Light-Emitting Device. LED 法. 參數說明. L︰ 兩個 LED 在 影像上 的距離 u︰ 兩個 LED 在 影像上 與縱軸的距離 d︰LED 與 robot 實際的距離

demi
Download Presentation

Following Autonomous Mobile Robot

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Following Autonomous Mobile Robot

  2. Outline • 機器人架構 • 跟隨機器人運作流程 • LED法 • ODCS-SIFT法(hybird法)

  3. 機器人架構

  4. 機器人架構 • 連線方法

  5. 跟隨機器人運作流程

  6. Human Following Behavior of an Autonomous Mobile Robot Using Light-Emitting Device

  7. LED法

  8. 參數說明 • L︰兩個LED在影像上的距離 • u︰兩個LED在影像上與縱軸的距離 • d︰LED與robot實際的距離 • θ︰the angle made X straight line connecting the camera and the device.

  9. 參數間的關係

  10. LED法改進 • 1.wide-angle lens or omni-directional camera • 2.using more cameras pointing to different directions. • 3.making the camera turning on.

  11. LED法流程圖

  12. ODCS-SIFT法 • Object Dominant Color Set (ODCS):it can indicate the original image with least color feature. • Scale-invariant feature transform (or SIFT) :an algorithm in computer vision to detect and describe local features in images. The algorithm was published by David Lowe in 1999.

  13. ODCS與SIFT範例

  14. SIFT範例(1/6)

  15. SIFT範例(2/6)

  16. SIFT範例(3/6)

  17. SIFT範例(5/6)

  18. Verification voting φ= 某顏色出現的比例 ψ= 原圖與ODCS-database 中的 圖,做每一個像素的 ”bitwise AND”比較後,相同的 比例.

  19. ODCS-SIFT流程

  20. Experiment

  21. Conclusion • This is a foundation for robot to detect object. • The main shortage is all of the parameters are off-line calculated and cannot update automatically.

More Related