碩士 / 雲林科技大學 / 電機工程系碩士班 / 98 / Stereo vision navigation is the fundamental functionality of the intelligent robot, so that the intelligent robot can smoothly achieve the features of obstacle avoidance, path planning, map building, and environmental localization. , However, conventional feature detection methods can not provide plenty of feature points that are distributed evenly and can not accomplish the stereo vision navigation. Meanwhile, the intelligent robot often requires some extra ultrasonic or infrared sensor for assistance.
In this thesis, Local Scale-Invariant Feature Transform (SIFT) method is proposed to get more and evenly feature points. So accurate 3D environment modeling and elaborate stereo map can be accomplished easily. Experimental results verify the proposed Local SIFT can detect more and reliable feature points. On the other hand, this thesis also implements the simplified stereo vision navigation based on grayscale histogram segmentation onto Nao embedded robot. Implementation results show the simplified vision navigation based on grayscale histogram analysis is simple and efficient.
| Identifer | oai:union.ndltd.org:TW/098YUNT5441025 |
| Date | January 2010 |
| Creators | Jung-Lin Li, 李忠霖 |
| Contributors | none, 何前程 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 57 |
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