未來展望

本論文在影像辨識方面，雖然設計了一套由特徵點辨識乃至於錯誤特徵點剔 除及求解平面轉換矩陣，完整的一套辨識環境中物體的方法，但是其中還有幾個 可以改良的地方。在運算速度方面，由於是採用雙眼視覺，所以必須同時做兩張 影像的特徵點比對，如此大幅增加了運算量，導致運算時間增加，另外，因為環 境中光線的因素，常常會導致擷取的影像亮度不穩定，而使特徵點的計算及轉換 矩陣的求解上出現較大的誤差。因此若能針對這些問題做出改良，將可提高整體 的實用性，增加機器人對環境的反應能力。

目標物的姿態也不必拘泥在直立的狀況，可以針對不同的姿態，改變手掌抓取的 角度，用途更加廣泛。

在機器人的應用方面，目前可以完成到自主抓取環境中指定物品的任務，若 能規劃在拿到物品後的任務，例如使用者在指定機器人抓取物品之後，再拿給使 用者。如此一來，將可以大大提升人類生活的便利性及互動性，使其成為家中的 好幫手。此外，由於頭部機構的設置以及雙臂的設計，可以研究兩手臂間的協調 合作，完成更多的任務。

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