臺灣博碩士論文加值系統

中文摘要

隨著機械與資電科技的進步，電腦視覺已成為一項熱門的研究領域，凡舉日常生活的視訊會議與防盜監視、工業生產線的自動化視覺檢測與條碼判讀等都已成為應用中不可缺少的一部份。電腦視覺系統特別能勝任繁複而需耗人力來全神灌注的工作上，對於追蹤、攔截、監督、檢測、定位與紀錄等工作特別有效率。
本研究主要工作在建立一模仿人類之視覺系統與手臂運動的配合，進而完成三維空間中物件攔截之任務。研究包含兩個重要工作，第一部份為機械視覺系統，也就是以電腦與雙眼機械頭來模擬人的頭部及雙眼的運動並連結思考決策的大腦。視覺系統主要工作為數位影像處理，與採用一快速強健的橢圓追蹤演算法來追蹤影像中的特徵物體。雙攝影機經過校準後可精確的重建動態三維定位資訊並具有錯誤鎖定的判斷能力。第二部分為運動控制系統，可看成人類的肌肉與神經系統，電腦在中斷程式中即時控制五軸，負責操控整個三軸機械頭部的影像追蹤運動與二軸機械手臂對物體的攔截運動。在影像目標估測中，本研究應用灰色估測模型來補償CCD取像時產生的量化誤差。在雙眼機械頭影像追蹤方面，使用以「視覺為基礎」的視覺伺服控制，誤差訊號定義在影像平面上來完成追蹤目標的運動；而在機械手臂攔截方面，則是使用以「位置座標為基礎」的視覺伺服控制，左右攝影機目標物位置經由攝影機模型求得空間座標，誤差訊號定義在此空間座標中，而兩控制法則的控制訊號皆直接送入運動控制器中，然後經由驅動器驅動馬達，完成運動控制。本系統之雙眼機械頭能緊追落於視覺範圍內之黑色球狀目標物，進而完成三維空間中物件攔截之任務。

Abstract

In recent years, with the excellent progress in mechantronics and computer science, computer vision had become an active research field. It also has many applications, such as video conference in daily life, automatic industrial visual inspection, matrix code reading in product line and the image tracking system in military and national defense, etc… and its impact becomes more important than before. Especially, it has great competence and efficiency for heavy and repeated jobs, that are time consuming and a lot of human efforts are required.
In this study, a robot system has been used to perform a real time "watching and catching" task. It consists of two major parts. The first is the vision system, which handles the image processing and image understanding and provides useful information for tracking task. The second is the motion control system, which contains software and hardware of the robot and the "head-eye" system. The vision system deals with real-time digital image processing with a high-speed, robust elliptical tracking algorithm to track object features. The mechanism of the head eye system can reconstruct precise 3D configuration with ability of error detection and active model validation with CCD camera calibration.
The real time "watching and catching" task is carried by position based look and move control structure, where the tracking error signal is defined by the spatial pose of the target with respect to the robot.
The gray modeling has also been applied to filter the target position and produce reliable information of the target. The results shown in this thesis has demonstrated a great potential of real time visual servo to industrial application.

目錄
中文摘要 I
英文摘要 II
誌謝 III
目錄 IV
表目錄 VII
圖目錄 VIII

第一章 緒論 1
1.1 前言 1
1.2 文獻回顧 3
1.3 本文架構 7

第二章 數位影像處理 9
2.1 數位影像處理系統簡介 9
2.2 數位影像之取樣與量化 10
2.3 基本數位影像處理演算法 11

第三章 影像追蹤 14
3.1 影像目標物辨識概述 14
3.2 追蹤演算法基本架構 14
3.2.1 橢圓追蹤演算法簡介 15
3.2.2 橢圓輪廓梯度權值模組 17
3.2.3 橢圓內部直方圖權值模組 18
3.3 橢圓追蹤演算法流程 19
3.4 追蹤系統的即時性探討 19

第四章 電腦視覺 26
4.1 CCD攝影機模型與校正 26
4.1.1 透視投影幾何 26
4.1.2 平面投影轉換 31
4.1.3 攝影機校正技術 34
4.1.4 攝影機校正結果 43
4.2 影像中運動體投影數學模型 46
4.3 雙眼機械頭未知幾何參數識別 49
4.3.1 雙眼機械頭幾何參數 49
4.3.2 雙眼機械頭未知參數識別 52
4.3.3 動態攝影機即時模型建構 56
4.4 Epipole Geometry與Fundamental matrix之探討 56
4.5 基礎矩陣（Fundamental matrix）實作應用 63
4.6 透鏡成像扭曲補償演算 67
4.6.1 未扭曲e扭曲 67
4.6.2 扭曲e未扭曲 68
4.6.3 數位影像幾何轉換線性內插法 69
4.7 利用雙眼視覺幾何重建世界座標位置 70
4.8 影像量測精確度之探討 71

第五章 視覺迴授伺服控制系統 74
5.1 系統整合組態 74
5.2 電腦視覺理解系統 75
5.3 運動控制伺服系統 77
5.4 二軸機械手臂運動規劃 78
5.5 雙眼機械頭影像追蹤伺服控制 81

第六章 三維軌跡重建與目標物攔截 85
6.1 灰色理論 85
6.1.1 灰色模型建立 85
6.1.2 灰色預測原理 87
6.2 應用灰色預測降低即時影像追蹤計算量 88
6.3 自由拋體動態探討與模擬 89
6.4 應用灰預測理論在二維影像軌跡之量化誤差補償模擬 91
6.5 自由落體落點估測 95
6.6 落體攔截整合實驗 99

第七章 結論 105
7.1 結論 105
7.2 建議與展望 106

參考文獻 107

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