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    Please use this identifier to cite or link to this item: http://ccur.lib.ccu.edu.tw/handle/A095B0000Q/411


    Title: 基於RGB-D攝影機場景重建及定位之擴增實境系統;RGB-D Camera Reconstruction and Localization Augmented Reality System
    Authors: 葉昀嘉;YEH, YUN-JIA
    Contributors: 電機工程研究所
    Keywords: 擴增實境;室內定位;環境建構;Augmented Reality;Indoor Localization;Environment Reconstruction
    Date: 2017
    Issue Date: 2019-07-17
    Publisher: 電機工程研究所
    Abstract: 近年來由於智慧型行動裝置的普及以及硬體上的進步,使得SLAM 技術得以在行動裝置上實現,並延伸許多應用。虛擬實境及擴增實境等相關領域這在這幾年內成為科技公司的研發重點,透過SLAM 技術,行動裝置可以根據對環境的感知進而推算出自身的位置以及所在環境的樣貌。以室內定位技術來說,GPS 的定位精度是不夠的,因此在這方面SLAM 還是較適合的技術。此外,行動裝置上通常包含多種傳感器,例如單目相機及慣性測量單元都是目前行動裝置幾乎都會搭載的傳感器元件。相較於單一傳感器的SLAM 演算法,結合多種傳感器的SLAM 演算法是較可靠的。本篇論文以Google 推出的Project Tango 做為開發平台,利用Project Tango 提供的功能建構出周遭環境並且定位之擴增實境系統。本系統能對室內環境進行建構,再將所建構的點雲圖轉為地圖資訊,用來計算導航路徑,並重複使用所建構的資料來進行定位,使擴增實境中的虛擬物件在經過裝置長距離的移動後依舊能保持在原來的位置。
    In recent years, due to the progress on hardware of mobile devices, the implementationof SLAM on mobile devices becomes possible and is extended to manyapplications. Virtual reality and augmented reality became the fields that many companiesfocus on. Mobile devices are able to estimate its own positions and perceivethe environment through SLAM. The accuracy of GPS for the indoor environmentis not enough. SLAM is more suitble for the indoor environment. In addition, mobiledevices are usually equipped with multiple sensors. Most of mobile devices areequipped with monocular cameras and inertial measurement units. Compared to themonocular method, integrating multiple sensors is more robust. In this thesis weimplement an indoor augmented reality syetem based on Project Tango developed byGoogle. This system is able to construct the environment and reuses the constructeddata to relocalize. The constructed point cloud can transform to the map data, andlet the system to estimate the navigation path. With the accurate pose estimationprovided by Tango, the augmented reality content can keep original position aftermove a long distance.
    Appears in Collections:[電機工程研究所] 學位論文

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