應用於機器人視覺之多項式實距估測系統

本研究提出一多項式實距估測法，此估測法直接應用於一機器人之視覺系統。由於搭載於機器人之攝影機，會因攝影機與拍攝面之高度與傾斜角，而使回傳至使用者端之影像產生變形，並且影像上兩像素間與所對應之實距關係亦非線性。為了使用者可簡單地直接於回傳影像上選擇機器人欲移動之目標距離，因此本研究提出，將回傳影像加以分割為數個區塊，並針對每個區塊以多項式的方法，來估測影像上兩像素間所對應之實際距離，並進一步藉此控制機器人之移動。由實驗可知，使用者可直接於回傳影像上點觸任兩點像素，而此多項式實據估測法，即可快速且正確的估算出實境中所對應之實際距離，並計算出機器人移動所需之參考數據。

This paper proposed a polynomial real- distance estimation used for the visual system of robots. Due to the factors of heights and titled angles between the camera and ground, the feedback images from the robot-end are distorted. The distances presented in the images can’t be linearly corresponded to the real distances of reality. In order to control the robot directly by the feedback images, the images were separated to several blocks and each block was characterized by a polynomial used to estimate the real distance between two pixel- points. A user interface was a l so implemented to transfer the estimated distances to control demands of the robot. As demonstrated in experimental results, users can choose two pixel-points in the feedback image, and the real-distance estimation system can efficiently and correctly estimate the real distances of reality.