自動增益微調式旋轉傾斜平台物體視覺伺服追蹤

攝影機是人類在17世紀非常重要的發明之一，他讓人類不需要繼續用抽象的繪圖來記錄事件，而使用更詳細的畫面，讓歷史更接近真實。二十世紀的到來和電視機的發明更突顯攝影機的重要性，利用新的電子技術和連續拍攝的原理，攝影機從一個簡單的靜態圖片捕捉機演變成重要的動態錄影設備。近年來，更新的技術縮小了鏡頭的尺寸，讓攝影機整體體積小，其重量更輕，至可以安裝在每座路燈上，高速公路出口和ATM機台來監測人和車流量。市面上攝影機的缺點包括狹窄的偵測範圍和跟蹤目標的不準確性。解決這些問題的方法，就是採用新型的視覺伺服系統讓攝影機本身可自行執行旋轉動作。在這篇論文中，作者透過之前的研究，確定一個可工作的伺服系統需要有以下三個基本元素來構成視覺伺服控制: 第一個是視覺感應器，第二部分是為了架設視覺感應器的旋轉傾斜平台硬體架構，第三部分是影像處理和運動演算法。基於此三項基本元素，此篇論文組裝了一個簡單的主動視覺伺服平台來執行物體追蹤，並在此架構上，設計了新的自動增益微調運動控制演算法來克服真實世界物體的隨機運動。實驗結果顯示此運動控制演算法的效率和可行性。

關鍵字

視覺伺服；視覺追蹤；旋轉傾斜平台；自動增益微調；即時增益微調

並列摘要

The camera was invented in 17th century and it has been an invaluable part of human evolution ever since. For the first time in human history, scenes can be captured and documented with more detailed truth instead of sometimes farfetched or bias hand drawing. In the early 20th century, the invention of television has made camera even more important as the device evolved from a simple static picture capturing machine to a motion picture recording device. The recent advent of technology has reduced the size of the camera, making it lightweight and small enough to be equipped on every street lamp, highway exit, and ATM machine so people, traffics and movement can be monitored. The disadvantages of today’s camera include narrow field of view and inability to accurately follow a target of interest. The solution for these problems is the active camera visual servo pan tilt tracking system. In this thesis, the author studies through a number of previous works to determine that there are three basic components for such a system. The first one is the visual sensor. The second part is the rotating platform that houses the visual sensor. The third part is the processing algorithm. A simple active camera visual servo pan tilt tracking system is built using these three basic components and tests are conducted to determine the system’s performance. A new variable proportional control is designed to better follow the target of interest. In the end, experimental results are shown.

並列關鍵字

Visual Servo ； Visual Tracking ； Pan Tilt Platform ； Variable Gain ； Real Time Gain Adjustment

參考文獻

[1: Gonzalez & Woods 2008]

Rafael C. Gonzalez and Richard E. Woods, “Digital Image Processing,” in Paperback, 34d ed., Editor: Shaou-Gang Miaou, Taiwan: Pearson Education Taiwan Ltd, 2008, pp. 689–787.

[2: Haritaoglu et al. 2000]

Ismail Haritaoglu, David Harwood, and Larry S. Davis, “W4: Real-Time Surveillance of People and Their Activities,” IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 22, No. 8, August 2000.

[3: Li et al. 2008]

國際替代計量

自動增益微調式旋轉傾斜平台物體視覺伺服追蹤

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