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 θ︰the angle made X straight line connecting the camera and the device.

參數間的關係

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.

LED法流程圖

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.

ODCS與SIFT範例

SIFT範例(1/6)

SIFT範例(2/6)

SIFT範例(3/6)

SIFT範例(5/6)

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.

ODCS-SIFT流程

Experiment

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.