语音识别与运动识别.ppt

杜辛亚 modified from ppt provided by 邹丹平，裴凌 Shanghai Jiao Tong University - * - Ardrone 硬件介绍与软件开发基础 ARDrone开发平台 ARDRone2.0 无人小飞机 1GHz 32 bit ARM Cortex A8 processor with 800MHz video DSP TMS320DMC64x Linux 2.6.32 （Busybox) 1Gbit DDR2 RAM at 200MHz USB 2.0 high speed for extensions Wi-Fi b,g,n 3 axis gyroscope 2000°/second precision 3 axis accelerometer +-50mg precision 3 axis magnetometer 6° precision Pressure sensor +/- 10 Pa precision Ultrasound sensors for ground altitude measurement 60 fps vertical QVGA camera for ground speed measurement ARDrone SDK 2.0 ARDrone open API plat form / 当前版本2.0.1 支持平台: Windows Linux Android IOS ARDrone无人机平台 四轴飞行 ARDrone无人机平台 Wifi网络连结 端口5556 ( UDP ): 控制与配置(AT commands) , 30fps 端口5554 ( UDP ): 无人机运行状态数据 (navdata), 15fps / 200fps (debug) 端口5555 (TCP) : 视频流 ARDrone SDK 基本功能 intuitive touch and tilt flight controls live video streaming video recording and photo shooting updated Euler angles of the AR Drone embedded tag detection for augmented reality games ARDrone SDK 架构 ARDrone2.0 库 SOFT：平台相关 COMMON: 通信结构头文件 Lib/ardrone_tool: 命令发送循环、数据及视频线程、main函数入口 Lib/utils: 帮助函数 VLIB: ARDrone 1.0的视频解编码库 FFMPEG : ARDrone 2.0的视频解编码库 ITTIAM : 面向iOS和Android系统的视频解码库 VPSDK: 面向视频处理的通用函数库 Lib/ARDroneTool AT控制命令管理线程 navdata状态信息接收线程 视频管理线程 视频录制线程 鲁棒控制线程 由ARDroneTool提供初始化、创建和管理(见ardrone_tool_main函数) 用户只需填充对应的Callback函数 Examples SDK Demo Progam Video Demo Program Navigation Program 视觉控制 图像处理与计算机视觉 ＯｐｅｎＣＶ 控制理论 Ｍａｔｌａｂ，ＬａｂＶｉｅｗ 参考书: 《Multiple View Geometry in Computer Vision》 《Robotics,　 Vision and Control，Fundamental　Algorithms　in MATLAB》 语音识别 Google： RecognizerIntent 科大讯飞话音API Google SDK 科大讯飞 SDK 传感器数据 Motion sensors ?This category includes accelerometers, gravity sensors, gyroscopes, and rotational vector sensors. Position sensors These sensors measure the physical position of a device. This category includes orientation sensors and magnetometers. Environmental sensors This category includes barometers, photometers, and thermometers. 传感器数据 识别算法 Many algorith