基於雙眼視覺之物件位置偵測及計算

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姓名

徐啟勝(Chi-sheng Hsu) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

基於雙眼視覺之物件位置偵測及計算
(The position detection and calculation of the object via a binocular vision)

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摘要(中)

本研究目的為設計機械手臂之雙眼視覺系統(binocular vision system)。此視覺系統主要功能為可以偵測、計算出目標物件於三維空間中的位置，並透過其所求出的資訊協助機械手臂順利到達所要求之位置，完成抓取物件的目標。本雙眼視覺系統包含裝置於機械手臂上之肩膀位置的兩顆CCD，以及一台筆記型個人電腦。本研究除了使用兩顆CCD外，並無加裝任何距離感測器(range sensor)進行目標物件深度量測。使用雙CCD擷取目標物件於環境中的影像，再利用各種影像處理(image processing)方法擷取目標物件之特徵點(feature points)，接著利用這些特徵點計算出目標物件中心點於影像平面上之像素距離，建立雙眼視覺成像模型；為了求出目標物件於真實世界中的正確位置，本研究使用座標轉換(coordinate transformation)公式推導出三維重建座標，將物件影像中的二維像素座標轉換成空間中之三維座標，以求出目標物件所在位置。換句話說，三維座標即是求出目標物件與機械手臂原點於空間中的三軸距離。所以，透過雙眼視覺系統所求得目標物件於空間中之三維座標資訊，可以使機械手臂完成以下三大任務：任務一、穩穩的抓取雞蛋並放入碗中；任務二、抓取裝有水的保溫瓶並將水倒入馬克杯中；任務三、精確按壓電梯面板上的按鈕。最後，經由實際的實驗與測試可證明本雙眼視覺系統是非常有效的。

摘要(英)

The purpose of this study is to design a binocular vision system for a robot arm. The vision system can detect the target object and calculate its position in 3D space such that the robot arm can reach the target object according to the information from the vision system. The binocular vision system includes two CCDs which are installed in the shoulder of the robot arm and a person computer. Except two CCDs, there is not any other sensor. The CDDs capture the target image and then the image goes through some image processing to catch the feature points of the target object. Based on the feature points, the central point of the target object is obtained. A binocular vision model is constructed to calculate the 3D coordinate of the object from 2D image coordinate by the coordinate transformation formulas. In other words, the distances in 3D space between the target object and the original point of the robot arm is determined. Therefore, according to the calculated 3D coordinate of the target object, the robot arm can achieve three tasks. The first is that holding an egg and put it into a bowl; the second is grasping a bottle filled with water and pour the water into a cup; and the last one is pressing the exact number of elevator buttons. Finally, there are practical experiments to demonstrate the effectiveness of the binocular vision system.

關鍵字(中)

★ 座標轉換
★ 特徵點
★ 距離感測器
★ 雙眼視覺系統
★ 影像處理

關鍵字(英)

★ binocular vision system
★ range sensor
★ coordinate transformation
★ feature points
★ image processing

論文目次

摘要 I
Abstract II
致謝 III
目錄 IV
圖目錄 VI
表目錄 IX
第一章緒論 1
1.1 研究背景與動機 1
1.2 文獻回顧 1
1.3 論文目標 3
1.4 論文架構 3
第二章系統架構與實驗環境介紹 5
2.1 系統架構介紹 5
2.1.1 筆記型電腦 7
2.1.2 CCD 8
2.1.3 使用者介面 8
2.2 實驗物件介紹 10
第三章影像處理與特徵擷取 12
3.1影像處理 12
3.1.1 影像參考白處理 12
3.1.2 色彩空間模型 13
3.1.3 二值化處理 15
3.1.4 連通物件 22
3.2 物件影像特徵點擷取 23
3.2.1 邊緣偵測 23
3.2.2 角點偵測 25
3.3 物件影像辨識 26
第四章雙眼視覺系統 31
4.1 CCD內部參數調整 32
4.2 雙眼視覺系統 34
4.2.1 CCD成像原理 34
4.2.2 座標系統轉換 37
4.2.3 三維座標量測實驗 39
4.2.4 雙眼視覺系統輔助機器手臂倒水 58
4.2.5 電梯按鈕亮燈辨識 59
第五章實驗成果 61
5.1 實驗環境限制 61
5.2 抓蛋入碗 65
5.3 倒水 67
5.4 按壓電梯按鈕 69
第六章結論與未來展望 71
6.1 結論 71
6.2 未來展望 72
參考文獻 74

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指導教授

王文俊(Wen-june Wang)

審核日期

2011-7-1

推文