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URN etd-0909110-130007 Statistics This thesis had been viewed 2584 times. Download 1013 times. Author Ruei-Ping Chen Author's Email Address No Public. Department Electrical Engineering Year 2009 Semester 2 Degree Master Type of Document Master's Thesis Language English Page Count 112 Title The Research of Distance Estimation for Moving Car-Like Robots Based on Real-Time Image Recognition Keyword Distance Estimation Car-Like Robot Image Recognition Image Recognition Car-Like Robot Distance Estimation Abstract In this thesis, an algorithm is proposed for analyzing the image of two carlike
robots for one of them to track the other. We use X80 and i90 robots for
experiments. The image of the X80 is captured by a single eye camera of the
i90 robot, and then, it is binarized and eroded to get the simple binary image by filtering the noisy of the environment, and obtain the correct area of the X80 robot binary image. Because the area ratios of the back and side images of the X80 robot are different in the same distance, the theory of the divided lines is proposed to determine whether the captured image is back or side of the X80 robot. After several different distance experiments between these two robots, an approximation curve is obtained for estimating distances via least squares errors according to the image area widths of the X80 robot. On the other hand, when the estimated distance and the fixed visual angle of the i90 camera are known, the x-coordinate of the X80 robot can be obtained by the triangle theorem. Finally, the accuracy and validity of our proposed algorithm are verified by experiments.
Advisor Committee Wen-Shyong Yu - advisor
none - co-chair
none - co-chair
Files Date of Defense 2010-07-16 Date of Submission 2010-09-09