following autonomous mobile robot

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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 - PowerPoint PPT Presentation

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  • Following Autonomous Mobile Robot

  • OutlineLEDODCS-SIFT(hybird)

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

  • LED

  • LLEDuLEDdLEDrobotthe angle made X straight line connecting the camera and the device.

  • LED1.wide-angle lens or omni-directional camera2.using more cameras pointing to different directions.3.making the camera turning on.

  • LED

  • ODCS-SIFTObject 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.

  • ODCSSIFT

  • SIFT(1/6)

  • SIFT(2/6)

  • SIFT(3/6)

  • SIFT(5/6)

  • Verification voting= = ODCS-database , bitwise AND, .

  • ODCS-SIFT

  • Experiment

  • ConclusionThis is a foundation for robot to detect object.The main shortage is all of the parameters are off-line calculated and cannot update automatically.

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