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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

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Following Autonomous Mobile Robot

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  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.

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