1. Following Autonomous Mobile Robot

2. Outline
機器人架構
跟隨機器人運作流程
LED法
ODCS-SIFT法(hybird法)

3. 機器人架構

4. 機器人架構
連線方法

5. 跟隨機器人運作流程

6. Human Following Behavior of an Autonomous Mobile Robot Using Light-Emitting Device

7. LED法

10. 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.

11. 參數間的關係

12. 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.

13. LED法流程圖

14. 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.

15. ODCS與SIFT範例

16. SIFT範例(1/6)

17. SIFT範例(2/6)

18. SIFT範例(3/6)

20. SIFT範例(5/6)

22. 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.

24. ODCS-SIFT流程

25. Experiment

26. 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.