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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/11024

Title: 遠端操控機械臂系統應用於水下施工作業之技術研發---子計畫III:遠端操控機械臂系統應用於水下施工作業之影像處理技術研發(II)
Image Processing Technology Development of Remotely Teleoperated Robotic System for Underwater Construction (II)
Authors: 王榮華
Contributors: NTOU:Department of Electrical Engineering
Keywords: 水下施工;影像處理;端操控機械臂系統
Underwater construction;Image processing;Remotely teleoperated robotic system
Date: 2002
Issue Date: 2011-06-28T08:08:12Z
Publisher: 行政院國家科學委員會
Abstract: 本報告係關於在三年期「遠端操控機械臂系統」整合型計劃中,屬於「影像處理」子計劃之第三年成果介紹,即如何在動態平台下經由水下 CCD所擷取的影像中,正確地取得目標物的位置資訊。由於水下環境變動快速,因此本子計劃負責發展一平行影像分割技術,並自整張影像中擷取出目標物後,利用一雷射光紅點建立對應點,進行立體對應點匹配技術,以求出目標物在空間中的座標位置。
This paper presents a novel approach to perform fast image segmentation. More specifically, the results presented here deal with a pre-process that provides basic visual information for a remotely teleoperated robotic manipulator system for underwater operations. There are two major steps involved in the image segmentation: (1) extracting the target object from the input scene (2) obtaining the spatial coordinates of the object by incorporating binocular stereo correspondence technique and the guidance of a red-light laser point.
Relation: NSC91-2611-E019-003
URI: http://ntour.ntou.edu.tw/ir/handle/987654321/11024
Appears in Collections:[電機工程學系] 研究計畫

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