臺灣博碩士論文加值系統

所謂工欲善其事必先利其器，警政與國軍單位的基本技能培育越趨重要，而目前現行靶場建置與實彈演練的現實面成本問題也不可忽視，模擬系統即時反應射手的打擊狀態使靶場全面自動化，射擊人員也在第一時間點輕鬆掌握把標訊息並兼具成本及演練之優勢。
系統以單軸伺服、單頭CCD影像之射擊平台為設計主體，採用影像處理技術達到目標物辨識及動態追縱；影像技術中採用霍夫測圓、Canny邊緣偵測、高斯濾波器...等對圓心位置、圓周運算、干擾雜訊...等執行影像分析達到影像辨識及追蹤之目的，並運用超音波系統檢測目標物位置。
硬體控制系統使用ARDUINO控制板配合C語言撰寫，執行RC伺服馬達與超音波測距之演算。軟體控制平台建構則以Microsoft Visual C# 2010 Express與Emgu CV進行影像分析及COM Port之通訊溝通。

The so-called One must have good tools in order to do a good job, police and military units cultivating basic skills are becoming increasingly important. At present, the existing build and live ammunition shooting range real face cost issues cannot be ignored. Immediate reaction shooter simulation system to combat state enables fully automated shooting range, shooting people is also the first time easily grasp the standard message and the advantages of both cost and drills.

Axis servo system, the first single CCD image of the main firing platform for the design, the use of image processing techniques to achieve dynamic object recognition and tracking; imaging technology used in Hough transform, Canny edge detection, such as Gaussian filter .. on the center position, the circumference operations, interference noise .. etc. perform image analysis to achieve the purpose of image recognition and tracking, and the use of ultrasound system detects target position.

Hardware control panel with control systems use ARDUINO written in C language, perform RC servo motors and sonar range of calculus. Software control platform constructed places Microsoft Visual C # 2010 Express with Emgu CV for image analysis and the communication COM Port Communication.

誌 謝 i
摘 要 iii
表目錄 viii
第一章 序論 1
1.1研究背景與動機 1
1.2研究目的 2
1.3國內外相關研究 3
第二章射擊訓練模擬器之架構 6
2.1系統架構 6
2.2追蹤與辨認系統之架構 13
第三章 理論探討 15
3.1 RC伺服馬達控制原理 15
3.2 超音波測距: 20
3.3影像擷取 CCD 23
3.3.1 Canny邊緣檢測 25
3.4動態追蹤 26
3.4.1霍夫轉換 26
3.4.2 同心圓分數判斷 28
3.5攝影機模型 29
3.5.1透視投影 29
3.5.2相機參數 32
3.5.3攝影機校正實務 37
3.5.4上帝的創造美學 39
第四章 實驗結果驗證 41
參考文獻 49

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http://www.vision.caltech.edu/bouguetj/calib_doc/download/index.html