臺灣博碩士論文加值系統

在影像基準追蹤法中，微分法、運動能量法及區域比對法各有其優缺點與應用之場合，其中運動能量法與區域比對法應用在Pan-tilt影像追蹤架構中之追蹤效果較好，然此二法之限制為當目標物移動速度較快時，其動態攝影機所拍攝之影像會產生模糊現象，導致此二法無法有效地完成追蹤任務，因此本文嘗試提出以改良式SDG比對法配合具記憶模式之樣版更新及樣版遮罩來追蹤目標物，使移動目標物影像追蹤能更準確及強健。另外在伺服控制部分，採用具有較佳控制表現的視覺前饋補償控制架構，嘗試配合影像位置命令插值器來控制視覺追蹤系統，縮短系統之控制週期，使影像位置命令較為平滑，改善視覺伺服控制系統長取樣週期之缺點，以期達到較佳之影像追蹤響應。

A real-time visual servo tracking system consists of an image processing unit and a servo control unit. In this study, the image-based dynamic look-and-move visual servoing structure is adopted.
For the image processing unit, the tracking performances of three popular motion detection approaches ¾ differential techniques, motion energy methods and region-based matching methods, have been compared and discussed in this thesis. According to our study, it is found that the motion energy methods and the region-based matching methods are better than the differential techniques when applied to a real-time visual tracking task. However, when the target moves fast, the performances of the aforementioned methods deteriorate due to the reason that the images taken by the active camera tend to be unclear. As a result, the real-time visual tracking task likely will fail. To overcome this difficulty, an approach that combines the directed-region matching method with updating pattern and the mask of pattern is proposed in this study. Experimental results show that the proposed approach can lead to a good motion tracking result.
For the servo control unit, generally, the sampling rate of a visual control system is equal to the image frame rate that is often below 50 Hz. The low sampling rate makes the performance of a visual control system not desirable. To improve the system performance, a feed-forward type compensator is incorporated into the control structure. In addition, interpolation on servo commands is performed to increase the sampling rate. Experimental results indicate that our approach indeed improve the performance of the real-time visual tracking system developed in this study.

中文摘要 I
英文摘要 II
誌謝 III
目錄 IV
圖目錄 VI
第一章 緒論 1
1.1研究動機與目的 1
1.2文獻回顧 5
1.3本文架構 7
第二章 微分法 8
2.1全域平滑限制 9
2.2小區域量測之最小平方法 12
2.3多重解析光流法 14
2.4偵測移動目標物 17
2.5結論 20
第三章 運動能量法 21
3.1角度偏差量誤差分析及型態學濾波器之影響 22
3.2改善背景補償誤差 25
3.3 SDG model之實現 30
3.4 SDG model實驗結果 30
3.5結論 37
第四章 區域比對法 39
4.1樣版之取得 40
4.2以直接比對法取代SSD法 42
4.3樣版更新 43
4.4樣版遮罩 45
4.5結論 49
第五章 影像位置命令插值控制 50
5.1影像位置命令插值器架構 51
5.2實驗與比較 54
第六章 結論與建議 59
參考文獻 61
附錄A背景補償公式推導 64
附錄B軟硬體設備概述 67

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