具物體追蹤功能之立體視覺導引自走車

A Stereo Vision-Guided Mobile Robot for Real-Time Object Tracking

10.6358/JCYU.200503.0029

陳冠宇(Kuan-Yu Chen)；張永鵬(Yeon-Pun Chang)；傅培耕(Bacon Fu)

立體視覺 ； 影像伺服 ； 自走車 ； 視覺感知 ； stereo vision ； visual servoing ； mobile robot ； visual perception.

中原學報

33卷1期（2005 / 03 / 01）

29 - 39

繁體中文

本文的研究目標在設計與實現一部以立體視覺爲基礎的物體追蹤之自走車。採用雙眼立體視覺架構，求出目標物與攝影機的相對位置，使自走車得以追蹤移動目標物。首先，雙眼CCD攝影機連續擷取成對影像，經過影像處理找出符合顔色特徵的部份，藉由立體視覺演算法計算目標物與自走車的相對關係，實驗結果顯示自走車能夠即時追蹤目標物。本文設計之立體視覺導引自走車，結合機器視覺與自走車運動控制，可以即時追蹤特定顔色目標物，賦予自走車具有視覺感知的能力。

In this paper, our research goal is to design and realize the visual servoing control of a mobile robot using the stereo vision. In this paper, the mobile robot can track a moving target object because we extract the 3-D distance information of the target object using the binocular stereo vision. First, the pair images acquisition are accomplished by two CCD cameras continuously, and then we can extract the target which has color characteristic of the pair images using image processing methods. Second, the 3-D distance information between the target object and the mobile robot can be calculated by stereo vision algorithm. Finally, the experiments described in the dissertation have shown that the mobile robot carried out for tracking the target object real-time. In this paper, we have designed a stereo vision-guided mobile robot, which combines machine vision and motion control, for tracking a target object with color characteristic real-time. In fact, we give the mobile robot ability in visual perception.

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