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研究生:張宇均
研究生(外文):Yu-Chun Chang
論文名稱:對一類整合固定式與移動式攝影資訊的非校正型影像伺服系統
論文名稱(外文):A Study on Integration of the Fixed and Moving Visual Servoing Systems with Uncalibrated Vision
指導教授:彭守道彭守道引用關係許毅然許毅然引用關係
指導教授(外文):Shou-Tao PengYih-Ran Sheu
學位類別:碩士
校院名稱:南台科技大學
系所名稱:機械工程系
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2006
畢業學年度:94
語文別:中文
論文頁數:75
中文關鍵詞:影像伺服系統影像處理灰色理論機械手臂自我組織映射
外文關鍵詞:Visual Servoing SystemImage ProcessingGray SystemSelf-Organizing Maps
相關次數:
  • 被引用被引用:8
  • 點閱點閱:377
  • 評分評分:
  • 下載下載:151
  • 收藏至我的研究室書目清單書目收藏:1
本研究探討一類整合固定式與移動式攝影資訊的影像伺服系統。此研究方案不僅能降低單獨使用移動式攝影資訊時所引起的伺服抖動,也能保有移動式影像伺服資訊的高解析影像定位特性。
研究方案中以非校正型影像為發展架構,運用自我組織映射的學習技術,建立攝影設備與機械手臂之間的影像伺服映射關係。並以權重調整策略來整合此兩類影像伺服資訊。實驗過程中,以影像處理技巧辨別出目標物在影像空間中的位置,並引入灰色理論來預測動態目標物的移動狀態,以補償系統於追蹤時所產生的遲滯問題。實驗結果顯示了本研究方案的可行性。針對產品自動化的檢測與篩選、保全監視系統的延伸,甚至國防科技上的應用,此研究方法都具有相當大的發展潛
This study presents a visual servoing system that integrates fixed and moving camera information for robustly tracking the moving objects. This system not only effectively attenuates the servo oscillation, encountered in employing the moving camera information, but it also preserves the original high resolution of the information obtained from the moving camera.
This study exploits an un-calibrated visual servoing technique that establishes the relationship between the camera image and the configuration of robot arm by using the theory of Self-Organization Map. Moreover, this study combines the two types of vision information by a weighting adjustment. In the experiment, the position of target in the image space is firstly obtained from an image processing, and then the position of the target is predicted with gray method. The experiment validates the feasibility of this study.
論文
第一章 緒論
第二章 系統流程與架構
第三章 影像伺服追蹤系統基礎簡介
第四章 實驗與討論
第五章 結論
參考文獻
參考文獻
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