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| Title: | 微型無人機基於視覺自動區域偵查與物件偵測定位
Miniature UAV based on visual automatic area search with object detection and geolocalization |
| Authors: | 李德暐
Li, De-Wei |
| Contributors: | 劉吉軒
Liu, Jyi-Shane
李德暐
Li,De-Wei |
| Keywords: | 無人機
區域偵察
行為樹
物件偵測
物件追蹤
電子地圖
地理對位
Drone
Area reconnaissance
Behavior tree
Object detection
Object tracking
Digital map
Georeferencing |
| Date: | 2020 |
| Issue Date: | 2021-02-01 14:11:04 (UTC+8) |
| Abstract: | 隨著無人機的技術越來越成熟，從一開始發展目的為戰爭武器，到現在民眾能使用娛樂用途的空拍機，無人機慢慢地融入了我們的生活之中。無人機擁有獨特空間運動能力，因此出現越來越多的應用。像是美國Airware公司推出無人機屋頂檢查系統，無人機能夠自動收集房屋範圍內的影像資訊等。無人機展現出強大的資訊蒐集能力。雖然目前無人機用於偵察的例子很多，但大都是以高階的機種為主，原因是需要更多的感測器去幫助執行偵察任務，像是熱像儀、鐳射掃描儀等等感測器。然而目前政府機構、民間機構所擁有比較多的機種都是較為便宜的低階微型無人機。有鑑於此，本研究希望能在低成本微型無人機上能使用。基於視覺使用電腦視覺輔助偵測物件並定位，搭配行為樹使其自動控制化減少人力上控制的需求。
As the technology of drones has become more and more mature, from the beginning of the development of weapons of war, to now that people can use aerial cameras for entertainment purposes, drones have slowly integrated into our lives. UAVs have unique space movement capabilities, so more and more applications appear. For example, the United States Airware company launched a drone roof inspection system, which can automatically collect image information within the house. Unmanned aerial vehicles demonstrate powerful information gathering capabilities. Although there are many examples of drones used for
investigation, most of them are based on high-end drones. The reason is that more sensors are needed to help perform investigation tasks, such as thermal imaging cameras, laser scanners, etc. However, at present, government agencies and private organizations have a relatively large number of aircraft types that are relatively inexpensive low-end micro drones. In view of this, this research hopes to be used on low-cost micro drones. Based on vision, computer vision is used to assist in detecting and positioning objects, and the behavior tree is used to make it automatically controlled to reduce the need for human control. |
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[41] 內政部國土測繪中心Retrieved November 15,2020, from https://maps.nlsc.gov.tw/ |
| Description: | 碩士
國立政治大學
資訊科學系
107753039 |
| Source URI: | http://thesis.lib.nccu.edu.tw/record/#G0107753039 |
| Data Type: | thesis |
| DOI: | 10.6814/NCCU202100035 |
| Appears in Collections: | [資訊科學系] 學位論文
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