摘要
本文所探討的主題為將Matlab 應用在視訊導航的研究。眾所皆知Matlab 是以 強大的矩陣運算和影像處理的能力而聞名, 因此在無人飛行載具的導航和控制方 面, Matlab 是一個很理想的選擇。以往, 在實現導航的控制律上都是使用C 的程 式語言來撰寫, 但是, 對一個非資工背景的研究人員來說, C 語言很難處理複雜的運 算; 而Matlab 具有強大的現成工具得以用來計算那些複雜的數學式, 因此在本研究 中, 無人飛行載具利用視訊進行導行。而整體架構, 從軟體分析到硬體實現, 皆使用 Matlab 來完成。本文並比較各種視訊處理的方法, 以了解其在Matlab 上的運算效 率其可用性, 並透過執行檔的生成和一些範例來證明將Matlab 應用在無人飛行載 具的視訊導航是一個很好的選擇。
並列摘要
The application of Matlab to the vision-based navigation is explored in this thesis. Well known for powerful capability in matrix operation and image processing, Matlab is an ideal candidate to navigate and control unmanned aerials vehicles (UAVs). Convention- ally navigation laws are implemented in hardware using C code, which is usually too difficult when dealing with sophisticated algorithms. Instead, Matlab has powerful tool- boxes for those complicated mathematics. In this research, the UAV is navigated with vision-based equipments, and Matlab is selected to construct the whole hardware hier- archy, from analysis to hardware implementation. Various algorithms regarding imaging processing are realized using Matlab for the purpose of performance comparison, and stand-along excutional files are generated for the hardware. Examples are provided to show that Matlab is also a good choice of language on the implementation of navigating UAVs using vision-based equipments.