現今成熟的影像定位技術通常具有以下特性：
1. 適合處理線性的仿射轉換影像，計算快速，但面對真實世界中的非線性透視投影，只能以逼近法解決之，導致定位誤差較大；
2. 能定位各種程度的透視效應影像，但計算複雜耗時。
本研究將改善既有方法的缺點，發展一個快速的透視投影不變性影像定位技術，不但能對透視轉換的影像進行定位，更可對雜訊及遮蔽具有良好強健性，並且運算簡單快速，使即時處理的定位技術能被實現。
本研究提出一個具有透視投影不變性的快速影像定位技術，使用凸形外殼（convex hull）減少資料量，加速運算，並利用具有透視投影不變性的角度交比（cross ratio）做為特徵值，使表示影像的特徵不會受到透視效應而有所改變。由實驗結果看出，本研究突破了過去的仿射不變性影像定位技術的限制，確實可應用於真實世界中各種程度的透視效應影像，且運算量遠少於目前的許多透視投影不變性影像定位技術，對於雜訊與遮蔽效應均有高度強健性。
為了更進一步顯示本研究的實用性，本論文將此透視投影不變性影像定位技術應用於影像檢索技術中，實驗結果證實，本方法能夠勝任於真實世界的影像檢索，且能進行即時運算。

目 錄 I
圖 目 錄 IV
表 目 錄 VII
第一章 簡介 1
1.1 問題背景與問題描述 1
1.2 文獻回顧 5
1.2.1 影像定位技術的分類 6
1.2.2 仿射投影不變性影像定位技術 14
1.2.3 透視投影不變性影像定位技術 19
1.3 研究方法 23
1.4 適用範圍與論文架構 26
第二章 具有透視投影不變性的幾何特性 29
2.1 投影轉換 29
2.2 凸形外殼 33
2.3 交比值 36
2.3.1 線段交比的投影不變性 38
2.3.2 角度交比的投影不變性 40
第三章 透視投影不變性之快速影像定位技術 44
3.1 快速且強健之透視投影不變性影像定位演算法 44
3.1.1 擷取轉角頂點 47
3.1.2 萃取轉角頂點的凸形外殼 48
3.1.3 計算凸形外殼的角度交比值 50
3.1.4 循環比對（cyclic matching）找出影像間的對應關係 53
3.1.5 最小平方誤差法求出透視投影轉換參數，轉換影像完成定位 56
3.2 解決遮蔽問題 58
3.3 凸形外殼衍生的問題與對策 64
3.3.1 凸形外殼相似而造成誤判的解決方法 65
3.3.2 凸形外殼點數不足的解決方法 68
第四章 實驗結果與分析比較 70
4.1 本技術在不同程度透視效應影像的定位 70
4.2 本技術之鑑別能力測試 74
4.3 與Yang提出的仿射不變性影像定位技術[34]做比較 77
4.3.1 簡介Yang 提出的仿射不變性影像定位技術[34] 77
4.3.2 比較兩方法在各種環境條件下的表現 82
4.4 本技術在影像檢索上的應用 88
第五章 結論 97
5.1 本研究之貢獻 97
5.2 本研究的實用價值 99
5.3 未來發展方向 101
參考文獻 108

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