動態影像追蹤系統之研製

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王孝瑀(Hsiao-Yu Wang) 查詢紙本館藏

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電機工程學系

論文名稱

動態影像追蹤系統之研製
(Design and Implementation of Dynamic Image Tracking Systems)

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摘要(中)

活動在生活中是不可或缺的，如果沒有活動就是失去了生活。當我們在活動時各
種不同的移動又該如何被發現呢?
移動物體的偵測是一個變因很多的困難課題。對於我們人類要辨別出一個移動物體
在何方並不困難，因為我們都擁有銳利的雙眼，我們看到的世界都是三維世界並且我們
可以透過聰明的大腦來估測每個不同的移動物體大概離我們的方位和距離。但是我們如
何縮短機器科學和聰明的人類之間的差異呢?如果可以縮短之間的差異我們就能建構出
一套自動化系統有效的偵測到移動物體。所以本文將針對移動中物體-自製機器鼠,由動
態的立體視覺攝影機(stereo vision system)擷取影像，提出一套以改良型鑽石演算法
為基礎的影像處理追蹤系統，並用模糊控制對即時影像做出正確追蹤。

摘要(英)

Motion is the fundamental of life. No life if no motion. How can be the motion
discovered?
Motion detection is a very difficult problem for solving. It’s not a big problem for human
and animals to solve whether there is or not motion in an observed scene because of their
natural ability to see in 3D and to analysis the environment using the potential of their brain.
Therefore, the problem is that we cannot create a system, which is similar to psycho
physiological parameters of human beings vision. What we can do is to shorten the distance
between the ability of human and a technical system, which will be able to discover motion in
a scene like human beings, approximately. The purpose of this conference is to create
functional and faster models for the robotic rat motion detection with modified diamond
search using binocular stereo vision. Using binocular stereo vision with improved diamond
search algorithm and frame subtraction to detect out the rat motion and track it in automatic
fuzzy control.

關鍵字(中)

★ 模糊控制
★ 移動物體
★ 景深

關鍵字(英)

★ fuzzy control
★ depth
★ motion detection

論文目次

ABSTRACT
CONTENTS ………………………………………………i
LIST OF FIGURES …………………………………………………………iv
LIST OF TABLES………………………………………vii
CHAPTER 1 INTRODUCTION ………………………………1
1.1 Motivation ………………………………1
1.2 Literature of Related Work …………2
1.3 System Overview ………………………4
1.4 Thesis Organization …………………5
CHAPTER 2 SYSTEM DESCRIPTION…………………………6
2.1 Wheeled Mobile robot…………………9
2.2 Rat Robot………………………………13
2.3 Image Device…………………………19
CHAPTER 3 MOTION DETECTION PROCESSING………………20
3.1 Image Pre-processing……………………20
3.2 Frame Difference…………………………22
3.3 Improved Searching Algorithm…………23
3.3.1 Global Motion Compensation ……… 24
3.3.2 The Dynamic Threshold……………… 27
3.3.3 The Prediction of Motion Vector… 28
CHAPTER 4 STEREO VISION SYSTEM………………………34
4.1 Knowledge of Stereo Images …………34
4.2 Calibration Principles……………… 35
4.3 Geometric Camera Model……………… 43
4.3.1 Focal Length of Camera…………… 44
4.3.2 Perspective Projection…………… 44
CHAPTER 5 FUZZY CONTROL ………………………………………49
5.1 Introduction to Fuzzy Control Concepts …… 49
5.2 Proposed Fuzzy Control Systems for Tracking… 54
5.3 Parameters for Proposed Fuzzy Control Systems 56
CHAPTER 6 EXPERIMENTAL RESULTS AND DISCUSSIONS ……61
6.1 Development Platform ………………………61
6.2 Performance Results of Stereo System… 62
6.3 Experiment Results of Tracking System 63
CHAPTER 7 CONCLUSIONS AND RECOMMENDATIONS …………78
REFERENCES ……………………………………………………79
LIST OF PUBLICATIONS ……………………………………82

參考文獻

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指導教授

鍾鴻源(Hung-Yuan Chung)

審核日期

2011-7-1

推文