即時全域視覺定位系統於載具控制之應用

Abstract

本研究之主旨為提出一個基於電腦視覺的即時全域視覺定位(GVPS)系統，使其可以應用在室內載具平面運動的導航與控制，定位系統除了可以定出物體位置座標，也可以判斷物體的姿態。為達控制器回授所需，資料率必須達到至少每秒10次定位結果，而在本研究中提出的方法可用相當基礎的計算硬體達到每秒50次的定位結果。除此之外，我們將視覺定位系統與馬達編碼器作感測器融合，使定位系統更強韌穩定。

The purpose of this work is to develop a real-time Global Vision Positioning System which allows us to perform the navigation and control of an indoor unmanned vehicle. The developed system is capable to determine not only the location coordinates but also the attitude of a vehicle. To meet the design requirement, the data rate of the positioning should be faster than 10 data per second, while our algorithm can reach 50 data per second with basic end computational devices. Moreover, the visual positioning system is integrated with the motor encoder so that the integrated system could be more robust and effective.