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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 詹魁元(Kuei-Yuan Chan) | |
| dc.contributor.author | Yu-Lin Chen | en |
| dc.contributor.author | 陳昱霖 | zh_TW |
| dc.date.accessioned | 2022-11-24T03:28:15Z | - |
| dc.date.available | 2021-09-01 | |
| dc.date.available | 2022-11-24T03:28:15Z | - |
| dc.date.copyright | 2021-09-01 | |
| dc.date.issued | 2021 | |
| dc.date.submitted | 2021-08-24 | |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/81054 | - |
| dc.description.abstract | 機器人探索環境時，根據環境感測資訊，使用即時定位與地圖建構（Simultaneous Localization And Mapping，SLAM）技術進行環境地圖的建構，達成自動化探索的任務。為使效率增加，常利用多台機器人同步地建構環境，提昇環境探索的覆蓋率。然而，每個機器人所建構的地圖座標系與比例尺不盡相同，因此必須經過額外的合併處理才能有效表達出完整的全域環境，即地圖合併（Map Merge）處理。地圖合併處理依靠局部地圖共有的資訊來建立地圖的關聯性，使地圖座標系與比例尺一致，進而完成合併地圖的需要。因此，已有文獻將地圖視作影像的一種，並擷取相同影像特徵來計算地圖比例、座標的相對關係，此方法與電腦視覺領域的影像縫合技術相似。然而，機器人的地圖不同於一般影像，可能受到感測誤差影響，即便處於相同環境，不同機器人建構的地圖也可能具有差異。另外，機器人地圖經常採用格點佔據地圖的格式，僅包含3種數值關係來表達環境的不同區域，即未知、自由、佔據區域，故可被有效擷取的特徵也較一般影像來得稀少。基於上述原因，擷取地圖影像特徵來進行處理的方法可能不易實現地圖合併處理。本研究認為，欲利用地圖的影像特徵來進行合併，必須先排除感測誤差與地圖數值造成的影響，因此我們在擷取特徵前加入了數個地圖影像修正的步驟。經過本研究的修正步驟後，可在不同地圖中擷取相同環境位置的影像特徵，以此建立地圖座標系的相對變換關係，並有效將地圖進行合併。本研究以相同案例分別測試於原特徵擷取方法與加入修正處理的方法，結果顯示經過修正後的地圖不僅可成功合併，在判斷合併的指標分數上也較原特徵擷取方法有顯著的提昇。 | zh_TW |
| dc.description.provenance | Made available in DSpace on 2022-11-24T03:28:15Z (GMT). No. of bitstreams: 1 U0001-2308202110322900.pdf: 5876297 bytes, checksum: 0d353b7db21d50acc6e7f9b0ecf812c8 (MD5) Previous issue date: 2021 | en |
| dc.description.tableofcontents | 口試委員會審定書 ...................................................................................................... i 誌謝 .............................................................................................................................. ii 摘要 .............................................................................................................................. iii Abstract ........................................................................................................................ iv 目錄 .............................................................................................................................. vi 圖目錄 .......................................................................................................................... ix 表目錄 .......................................................................................................................... xii 第一章 緒論 ................................................................................................................ 1 1.1 前言 ............................................................................................................... 1 1.2 即時定位與地圖建構 ................................................................................... 1 1.3 多機器人系統 ............................................................................................... 2 1.4 研究動機與目的 ........................................................................................... 3 1.5 本文架構 ....................................................................................................... 4 第二章 文獻回顧 ........................................................................................................ 5 2.1 介紹 ............................................................................................................... 5 2.2 格點佔據地圖合併之直接類方法 ............................................................... 6 2.2.1 觀測個體資訊的方法 ....................................................................... 6 2.2.2 辨識共同物件或區域的方法 ........................................................... 7 2.2.3 直接類方法之小結 ........................................................................... 7 2.3 格點佔據地圖合併之間接類方法 ............................................................... 8 2.3.1 最佳化搜尋方法 ............................................................................... 8 2.3.2 特徵擷取方法 ................................................................................... 9 2.3.3 間接方法之小結 ............................................................................... 10 2.4 文獻回顧總結 ............................................................................................... 10 第三章 研究流程與架構 ............................................................................................ 11 3.1 問題描述 ....................................................................................................... 11 3.2 研究方法 ....................................................................................................... 12 3.2.1 流程與架構 ....................................................................................... 13 3.2.2 測試案例 ........................................................................................... 17 第四章 現有流程之技術 ............................................................................................ 19 4.1 特徵辨識 ....................................................................................................... 20 4.1.1 尺度空間之極值檢測 ....................................................................... 20 4.1.2 特徵點定位 ....................................................................................... 22 4.1.3 特徵點方向計算 ............................................................................... 23 4.1.4 特徵點描述 ....................................................................................... 23 4.2 特徵點匹配 ................................................................................................... 24 4.3 計算變換關係 ............................................................................................... 24 4.3.1 隨機採樣共識演算法 ....................................................................... 25 4.3.2 以 RANSAC 演算法計算相對變換關係 ........................................ 25 4.4 評判相對變換關係 ....................................................................................... 27 4.5 地圖銜接處理 ............................................................................................... 28 4.6 各演算法效果討論與合併測試 ................................................................... 31 4.6.1 演算法效用討論 ............................................................................... 31 4.6.2 合併測試 ........................................................................................... 36 第五章 加入地圖修正之合併方法 ............................................................................ 41 5.1 影像二值化處理 ........................................................................................... 41 5.2 雷登轉換與影像旋轉 ................................................................................... 43 5.3 閉運算處理 ................................................................................................... 46 5.4 興趣點採樣 ................................................................................................... 52 5.5 主體結構修正 ............................................................................................... 56 5.6 影像修正後合併結果討論 ........................................................................... 62 5.6.1 影像修正對特徵之差異 ................................................................... 62 5.6.2 合併測試 ........................................................................................... 66 第六章 模擬環境測試 ................................................................................................ 70 6.1 模擬環境建構 ............................................................................................... 70 6.2 合併測試與討論 ........................................................................................... 74 第七章 總結與未來展望 ............................................................................................ 77 7.1 結論 ............................................................................................................... 77 7.2 研究建議與未來展望 ................................................................................... 78 附錄 A 格點佔據地圖之格點資訊處理 .................................................................... 79 附錄 B 程式碼 ............................................................................................................ 81 參考文獻 ...................................................................................................................... 82 | |
| dc.language.iso | zh-TW | |
| dc.subject | 影像縫合 | zh_TW |
| dc.subject | 即時定位與地圖建構 | zh_TW |
| dc.subject | 地圖合併 | zh_TW |
| dc.subject | 格點佔據地圖 | zh_TW |
| dc.subject | Occupancy Grid Map | en |
| dc.subject | Map Merge | en |
| dc.subject | Image Stitching | en |
| dc.subject | Simultaneous Localization And Mapping | en |
| dc.title | 基於形態學影像前處理與特徵匹配之格點佔據地圖合併方法 | zh_TW |
| dc.title | An Occupancy Grid Map Merging Method Based On Morphology Image Pre-process and Feature Matching | en |
| dc.date.schoolyear | 109-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 李綱(Hsin-Tsai Liu),蘇偉儁(Chih-Yang Tseng) | |
| dc.subject.keyword | 即時定位與地圖建構,地圖合併,影像縫合,格點佔據地圖, | zh_TW |
| dc.subject.keyword | Simultaneous Localization And Mapping,Map Merge,Image Stitching,Occupancy Grid Map, | en |
| dc.relation.page | 85 | |
| dc.identifier.doi | 10.6342/NTU202102612 | |
| dc.rights.note | 同意授權(限校園內公開) | |
| dc.date.accepted | 2021-08-25 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
| 顯示於系所單位： | 機械工程學系 | |
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