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Wong, Sheung Man. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2010. / Includes bibliographical references (leaves 63-64). / Abstracts in English and Chinese. / Abstract --- p.i / 摘要 --- p.iii / Acknowledgements --- p.iv / List of figures --- p.V / Chapter Chapter 1 --- Introduction --- p.1 / Chapter 1.1. --- Segway Personal Transporter (PT) --- p.1 / Chapter 1.2. --- Existing research using Segway Robotic Mobility Platform´ёØ (RMP) --- p.3 / Chapter 1.3. --- The ICSL Segway Rider --- p.9 / Chapter 1.4. --- Thesis outlines --- p.10 / Chapter Chapter 2 --- ICSL Segway Rider --- p.11 / Chapter 2.1. --- Design concept --- p.11 / Chapter 2.2. --- Design overview --- p.12 / Chapter 2.3. --- Actuating components --- p.14 / Chapter 2.4. --- Electronic and sensing components --- p.24 / Chapter 2.5. --- Software development of Segway Rider --- p.28 / Chapter 2.6. --- Chapter summary --- p.31 / Chapter Chapter 3 --- The grand challenge --- p.32 / Chapter 3.1. --- Objective --- p.32 / Chapter 3.2. --- Experiment --- p.33 / Chapter 3.3. --- Running lane tracking by computer vision --- p.34 / Chapter 3.3.1. --- Color space conversion --- p.36 / Chapter 3.3.2. --- Apply binary threshold --- p.37 / Chapter 3.3.3. --- Edge detection --- p.41 / Chapter 3.3.4. --- Hough transform --- p.46 / Chapter 3.3.5. --- Line analysis --- p.49 / Chapter 3.4. --- Chapter summary --- p.51 / Chapter Chapter 4 --- Stand and stay --- p.52 / Chapter 4.1. --- Introduction --- p.52 / Chapter 4.2. --- Box matching method --- p.53 / Chapter 4.3. --- Image processing steps --- p.55 / Chapter 4.4. --- Experiment --- p.58 / Chapter 4.5. --- Chapter summary --- p.60 / Chapter Chapter 5 --- Conclusion and future works --- p.61 / Chapter 5.1. --- Contributions --- p.61 / Chapter 5.2. --- Future works --- p.62 / Bibliography --- p.63