本文首先提出一種影像式量測方法，用以量測傾斜面上目標物之距離及傾斜角度，作法上係使用一台PTZ(Pan/Tilt/Zoom) Camera作為攝影機具，利用其變焦功能模擬出不同攝影距離所產生影像畫面，再藉由目標物於影像畫面中像素值的差異，實現對於傾斜面上目標物體之距離與角度量測，並進一步完成目標物體之二維平面定位。最後，本文再以實際的量測定位實驗及記錄，證實此整合式系統的準確性及實用性。

This thesis presents an image-based system for measuring target objects on an oblique surface based on pixel variation of CCD images. By using the zooming function of a PTZ camera, we can simulate two images at two different photographing distances. By using the different pixel counts of the target object in the CCD image frame, two-dimensional localization of the target object on the oblique plane can be accomplished. To validate the effectiveness and viability of the proposed method, practical experiments are conducted in the thesis. Experiment results demonstrate that the proposed measuring system has a satisfactory accuracy in self-localization for mobile robots.

目錄
中文摘要.....................I
英文摘要.....................II
目錄.........................III
圖目錄.......................V
表目錄.......................VII
第一章	緒論................1
1.1	研究背景及動機......1
1.2	研究目的與方法......3
1.3	論文架構............5
第二章	像素差異法之距離量測......7
2.1 像素差異法距離量測原理..........8
2.2 任意參考點選擇與計算............12
第三章	像素差異法之傾斜面量測........15
3.1 傾斜角度量測.......................15
3.2 傾斜面距離量測.....................18
3.3 傾斜面上任意兩點距離量測...........19

第四章	基於像素差異法傾斜面量測之二維平面定位.......21
4.1 二維平面定位之定義................................21
4.2 二維平面定位之水平寬度量測........................23
4.3 二維平面定位之垂直寬度量測........................26
第五章	整合式像素差異法影像式定位....................30
5.1 數位變焦相機之等效 公式推導........................31
5.1.1 雷射輔助之系統配置...............................32
5.1.2 傾斜式像素差異法之參數 ..........................35
5.2 整合傾斜式像素差異法之影像式定.....................36
第六章	量測結果......................................39
第七章	結論與未來研究方向............................67
7.1 結論...............................................67
7.2 未來研究方向.......................................68
參考文獻...............................................70

圖目錄
圖2.1 像素差異法距離量測之 位移示意圖..........8
圖2.2 像素差異法距離量測之 位移示意圖..........9
圖2.3 描繪於不同攝影距離下距離與像素值變化的關係示意圖..10
圖2.4 目標物任意兩參考點於影像中計算之示意圖............14
圖3.1 像素差異法之傾斜面量測 位移示意圖.................16
圖3.2 像素差異法之傾斜面量測系統示意圖..................17
圖4.1 像素差異法傾斜量測之二維平面立體示意圖............23
圖4.2 立體視角之二維平面定位示意圖......................25
圖4,3 二維平面定位之水平寬度量測示意圖..................26
圖4.4 二維平面定位之垂直寬度量測示意圖..................28
圖5.1 數位變焦相機之等效 示意圖.........................32
圖5.2 數位變焦相機 距離量測系統配置示意圖...............33
圖5.3 雷射輔助像素差異法傾斜面量測之系統架構圖..........35
圖5.4 雷射光束與數位攝影機相對位置圖....................36
圖5.5 雷射亮點之影像說明圖..............................36
圖5.6 整合傾斜式像素差異法之影像定位流程圖..............41
圖6.1 參數量測系統說明圖................................43
圖6.2 不同距離時，水平方向所拍攝之參數量測照片..........46
圖6.3 不同相同攝影距離，傾斜角度0度實際照片.............47
圖6.4 不同相同攝影距離，傾斜角度30度實際照片............47
圖6.5 不同相同攝影距離，傾斜角度0度實際照片.............48
圖6.6 相同攝影距離，傾斜角度0度實際照片.................58
圖6.7 相同攝影距離，傾斜角度30度實際照片................58
圖6.8 二維平面定位之室內實際定位圖......................63
圖6.9 二維平面定位之戶外實際定位圖......................65
圖6.10 像素差異法二維平面定位圖.........................69
圖6.11 SIFT影像辨識圖...................................69

 
表目錄
表6.1目標物於不同傾斜角度下的距離量測(攝影距離為50cm)...54
表6.2目標物於不同傾斜角度下的距離量測(攝影距離為100cm)..54
表6.3目標物於不同傾斜角度下的距離量測(攝影距離為150cm)..55
表6.4目標物於不同傾斜角度下的距離量測(攝影距離為200cm)..55
表6.5目標物於不同傾斜角度下的距離量測(攝影距離為250cm)..55
表6.6目標物於不同傾斜角度下的距離量測(攝影距離為300cm)..56
表6.7目標物於不同攝影距離下的角度量測(攝影距離為50cm)...57
表6.8目標物於不同攝影距離下的角度量測(攝影距離為100cm)..57
表6.9目標物於不同攝影距離下的角度量測(攝影距離為150cm)..57
表6.10目標物於不同攝影距離下的角度量測(攝影距離為200cm)..58
表6.11目標物於不同攝影距離下的角度量測(攝影距離為250cm)..58
表6.12目標物於不同攝影距離下的角度量測(攝影距離為300cm)..58
表6.13不同攝影距離下傾斜面上任意兩參考點 與 之間的距離(攝影距離為50cm).....59
表6.14不同攝影距離下傾斜面上任意兩參考點 與 之間的距離(攝影距離為100cm) ...59
表6.15不同攝影距離下傾斜面上任意兩參考點 與 之間的距離(攝影距離為150cm)....60
表6.16不同攝影距離下傾斜面上任意兩參考點 與 之間的距離(攝影距離為200cm)....60
表6.17不同攝影距離下傾斜面上任意兩參考點 與 之間的距離(攝影距離為250cm)....60
表6.18不同攝影距離下傾斜面上任意兩參考點 與 之間的距離(攝影距離為300cm)....61
表6.19目標物於不同傾斜角度下的距離量測(攝影距離為50cm).................63
表6.20目標物於不同傾斜角度下的距離量測(攝影距離為100cm)...............64
表6.21目標物於不同傾斜角度下的距離量測(攝影距離為150cm)...............64
表6.22目標物於不同攝影距離下的角度量測(攝影距50cm)...65
表6.23目標物於不同攝影距離下的角度量測(攝影距離為100cm)..65
表6.24目標物於不同攝影距離下的角度量測(攝影距離為150cm)..65
表6.25不同攝影距離下傾斜面上任意兩參考點 與 之間的距離(攝影距離為50cm)...66
表6.26不同攝影距離下傾斜面上任意兩參考點 與 之間的距離(攝影距離為100cm)...66
表6.27不同攝影距離下傾斜面上任意兩參考點 與 之間的距離(攝影距離為150cm)... 66
表6.8 目標物於傾斜面之二維平面定位數據....69
表6.9目標物於傾斜面之二維平面定位數據.....70
表6.10 目標物影像座標位置...74

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