定位(Localization)是目前機器人研究相關重要議題，若能準確得知機器人目前所在位置，才能使機器人得以實現路徑規劃，移動至所想要的位置，現有的定位方法通常利用多種感測器資料去計算位置，需要繁雜的計算時間。
    本文首先提出一種距離量測方法，只使用乙台數位攝影機(相機)配兩道平行的雷射光束，就能量測得到待測物到量測系統之間的距離、傾斜面上任意兩點的距離、以及傾斜面與地平線之間的角度。而本文也將所提出之影像式距離量測之方法應用於二維平面之定位研究，利用所提出之距離量測方法來縮短計算物體在二維平面位置之時間。同時，本研究也設計了一組參數量測系統，將使任何廠牌的數位攝影機(相機)，都能引用本文所提的方法，亦提升量測結果的精確性。
    最後，本文亦以實際的量測實驗及紀錄，證實這套量測系統的準確性及實用性，也證明此量測系統可應用在平面定位。

Localization is an important topic in Robotics. It is essential to have accurate position information of the robot so that the robot can be moved to any desired location. Although various Many localization methods have been proposed, those methods, however, usually use sensor fusion techniques to calculate the location of the robot. As a result, excessively calculation time might be required. 
In this thesis, we present a distance measurement method by using a single CCD camera and two parallel laser projectors beside the camera to measure the distance between the CCD camera and a target object. The proposed measuring system can measure the distance between arbitrarily points on an oblique surface and the angle between the oblique surface and the horizon. We also apply the proposed image-based measurement system to determine the position of the robot in 2-dimensional plane.
Furthermore, this thesis also establishes a parameter identification system to make the proposed measuring system suitable for all kinds of CCD cameras. Thus,  measurement accuracy of the proposed system can be significantly improved.
Finally, practical experiments are conducted in the thesis to validate the effectiveness and viability of the proposed method. Simulation results also demonstrate the measurement system has a satisfactory accuracy in 2-dimensional localization.

目錄
中文摘要.........................................................................................................I
英文摘要.......................................................................................................III
致謝.................................................................................................................V
目錄................................................................................................................VI
圖目錄...........................................................................................................IX
表目錄...........................................................................................................XI
第一章 緒論..................................................................................................1
1.1 研究背景及動機.......................................................................................1
1.2 研究的目的與方法....................................................................................3
1.3 論文架構....................................................................................................4
第二章 距離量測方法(IBDMS)..............................................................6
2.1 IBDMS距離量測原理................................................................................6
2.1.1 攝影距離量測.................................................................................9
2.1.2 水平寬度與垂直高度之量測.......................................................10
2.2 雷射擴散問題之解決方法......................................................................12
第三章 影像式傾斜量測.........................................................................16
3.1 傾斜角度的量測......................................................................................18
3.2 傾斜面攝影距離的量測..........................................................................22
3.3 傾斜面任意兩點距離的量測..................................................................23
第四章 二維平面定位..............................................................................26
4.1 二維平面之水平寬度量測......................................................................28
4.2 二維平面之垂直長度量測......................................................................30
4.2 二維平面定位流程..................................................................................37
第五章 量測結果.......................................................................................43
5.1 量測參數的建立......................................................................................44
5.2 傾斜面量測實驗......................................................................................48
5.2.1 量測條件說明...............................................................................48
5.2.2 實驗結果.......................................................................................49
5.3 二維平面定位實驗..................................................................................55
5.3.1 量測條件說明...............................................................................55
5.2.2 實驗結果.......................................................................................56
第六章 結論與未來研究方向................................................................63
6.1 結論..........................................................................................................62
6.2 未來研究方向..........................................................................................64
參考文獻.......................................................................................................66
研究著作.......................................................................................................73
圖目錄
圖2.1 量測系統相關位置說明圖……………………………………………7
圖2.2 IBDMS距離量測說明…………………………………………………9
圖2.3 水平寬度與垂直高度量測之說明…………..……..………………..11
圖2.4 雷射亮點擴散與移位的現象……………………..…………………13
圖2.5 雷射移位所判斷得結果……………………………………………..14
圖2.6 雷射亮點位置最後判斷結果………………………………………..15
圖3.1 傾斜量測示意圖……………………….…………………………….17
圖3.2 傾斜角度與距離量測說明…………………………………………..18
圖3.3 原理說明…………………………………..…………………………20
圖3.4 Laser A與Laser B和相機中心在影像之距離說明圖……...………...21
圖3.5 傾斜面任意兩點距離量測說明圖…………………….…………….24
圖4.1 水平視角與垂直視角關係圖………………………….…………….26
圖4.2 從水平角度觀察雷射參考點的影像說明圖……………..…………29
圖4.3 從垂直角度觀察雷射參考點的影像說明圖……….……………….30
圖4.4 從垂直角度說明其位置關係圖……………………………………..31
圖4.5 相機水平方向所拍攝之照片…………………………..……………32
圖4.6 相機垂直方向所拍攝之照片…………………………..……………33
圖4.7 定位座標圖說明……………………….…………………………….37
圖4.8 坐標方位說明圖……………………………………………………..40
圖4.9 定位流程圖…………………………………………………………..42
圖5.1 參數量測系統說明圖………………………………….…………….44
圖5.2 不同距離時，水平方向所拍攝之參數量測照片……………………47
圖5.3 不同距離時，垂直方向所拍攝之參數量測照片……………………48
圖5.4 相同攝影距離時，不同傾斜角度之實際照片………………..……..49
圖5.5 相同攝影距離時，不同傾斜角度之實際照片………………..……..49
圖5.6 不同角度所投射之雷射投影點………………………..……………55
圖5.7 合成照片……………………………….…………………………….56
圖5.8 二維平面定位之待測點說明圖……………………………………..57
圖5.9 二維平面定位之待測點說明圖……………………………………..60





表目錄
表4.1 水平及垂直像素之關係表………………….…….…………………33
表5.1 傾斜角度量測………………….………….…………………………50
表5.2 攝影距離量測…………….……….…………………………………50
表5.3 攝影距離量測…………….……….…………………………………51
表5.4 傾斜面任意兩點距離量測………………….….……………………51
表5.5 傾斜面任意兩點距離量測………………….….……………………52
表5.6  時， 數值之相差度數與誤差關係表……...…………54
表5.7  時， 數值之相差度數與誤差關係表……...…………54
表5.8  時， 數值之相差度數與誤差關係表……...…………54
表5.9 點A-G至原點之位置………………...………………………………58
表5.10 平面上任意兩點量測結果………………..………………………59
表5.11 點A-G至原點之位置……………...………………………………61
表5.12 平面上任意兩點量測結果………………..………………………62

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