- 學位論文
OpenCV於Android系統下實現即時UAV地面影像辨識與目標追蹤之可行性研究
Feasibility Study of OpenCV Implement Real-time Object Tracking by Image Recognition of Aerial Photos in Android Systems for UAV
摘要
以現今發展成熟的無人飛行載具(Unmanned Aerial Vehicle, UAV)，多旋翼機的發展與應用很受矚目，又以影像監控、蒐集最為廣泛，原因不外乎是多旋翼機能定點盤旋和飛行控制較為簡易等優點。現今旋翼機中影像酬載大多為功能簡單的攝影機為主，然而這種只有照相功能的相機無法直接進行後處理或將影像無線傳輸出來。而現今的智慧型手機是一運算速度快的多核心嵌入式系統，除了高階攝像機外，還有無線傳輸、資料儲存及陀螺儀、加速度計、電子羅盤和GPS等感測器，很適合使用於無人飛機的空拍、飛行紀錄器、定位與姿態感測的功能。 本論文研究以Android系統之智慧型手機做為影像擷取酬載，並在手機程式中搭配OpenCV(Open Source Computer Vision Library)函式庫加以運算達到影像即時辨識與目標追蹤，並將即時影像透過WiFi回傳於Android平板電腦地面站監看，並可在平板電腦上以觸控螢幕選擇欲追蹤的目標物，即時辨識每張影像中目標物體在螢幕上之位置，並下達飛行命令給Arduino Mega 2560開發板和控制螺旋槳依照追蹤方向飛行，使被追蹤目標能保持在螢幕的中心附近，讓地面平板電腦能掌握被追蹤目標，達到空中追蹤的目的，未來期望基於此系統能與實機結合，完成旋翼機之地面目標物追蹤，使旋翼機之應用更為精進。
並列摘要
Now, Unmanned Aerial Vehicle (UAV) is developed rapidly, where the multi-rotor UAV is the primary research and usage for surveillance and image capture. The main reasons are that multi-rotor UAV can hover, and its flight control is ease. On the other hand, the image capture is the main payload of multi-rotor UAV. Those camera payloads cannot process or deliver image promptly. Recently, the smartphone is very popular and suitable for UAV payload with its handy, power saving and fast computing. Especially, multi-rotor UAV can use the high-performance camera, Wi-Fi communication, data storage and also have sensor like gyroscope sensor, magnetometer sensor and GPS of smartphone for aerial photography, flight record and attitude control. The main research of this thesis is that uses an Android smartphone for image capture, image delivery, image process, image recognition and target tracking of multi-rotor UAV. Where the thesis adopts OpenCV(Open Source Computer Vision Library) to achieve target recognizing, as well as delivery image via Wi-Fi to ground station really time, then ground station Android tablet can assign target from ground image and switch image recognition function. Finally, we use USB interface between Smartphone and Arduino Mega 2560 flight controller of multi-rotor UAV. The Flight control controls rotor motors and keep tracking target in sight to implement real-time target tracking for multi-rotor UAV. In the feature,the system can integrate with well-develop multi-rotor UAV for flight test, and take full advantage of smartphone to improve the UAV research.