本文設計的即時影像追蹤系統包含馬達定位控制及移動目標物的影像判別處理。首先,爲使攝影機能夠即時追蹤移動目標物,本文提出目標物角度估算法,可以自攝影機擷取的影像中估算出目標物的位置,控制馬達帶動攝影機即時跟隨目標物移動。其次,移動邊緣檢測法已廣泛應用於移動目標物的影像判別,雖然能夠檢測出連續影像中的移動目標物,但得到的是最新影像之前-影像中的目標物,會造成影像追蹤的延遲。本文提出移動目標平移法,結合移動邊緣檢測法,可以得到最新影像中的目標物,在目標物變形量不大的條件下,有效改善移動邊緣檢測法的延遲現象,達成即時影像追蹤的目的。
In this paper, we design a real-time image tracking system included motors position control and image processing methods for a moving target. First, this paper proposes a target angle estimation method for calculating target position in continuous images captured by a CCD camera and then we can control the CCD camera drove by motors to track the moving target. Second, the moving edges detection method is widely used for detecting a moving target. This method can detect a moving target in continuous images, but the detected target will let the image tracking system delay because the target is in the previous image not in the new image. This paper proposes a moving target shifting method to combine the moving edge detection method for detecting a moving target in the new image. If the deformation of the moving target is little, the image tracking system can track the moving target real-time without delay.