Vision-Based Security Patrolling in Indoor Environments Using Autonomous Vehicles
| Autor: | Ming-Che Chen, 陳明哲 |
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| Rok vydání: | 2005 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 93 A vision-based approach to security patrolling in indoor environments using autonomous vehicles is proposed. A small vehicle with wireless control and image grabbing capabilities is used as a test bed. Three stages of security patrolling are proposed. First, a simple learning strategy is designed for flexible and effective learning of reachable spots and monitored objects in indoor environments. Accordingly, a planned path is obtained, and monitored objects and doors are specified by analyzing user commands. Next, following the learned path, the vehicle can accomplish specified navigation sessions. Two different kinds of methods, mechanic error correction modeling and vehicle position modification by positions of monitored objects, are proposed for navigation accuracy maintenance. Finally, an object matching algorithm is used for checking the existence of monitoring objects and the opening status of doors. All the experimental results show flexibility and feasibility of the proposed approach for the application of indoor security patrolling. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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