本論文旨在建構多相機視覺追蹤系統，並以該系統導引全向移動機器人攔接拋體。視覺追蹤系統中，利用兩個影像感測器模擬人類雙眼，依據拋體的色彩資訊進行視覺追蹤，將拋體座標經卡門濾波估測落點後，透過無線傳輸模組導引全向移動機器人至落點位置，同時藉由安裝在天花板上的相機將車體位置回授給全向移動機器人做控制。整個系統主要分成全向移動機器人、全景搖攝機構、影像處理模組、數位訊號處理模組和馬達控制器。由於利用拋體的色彩資訊作為目標物判斷依據，故使得本系統可以於複雜背景中進行攔接控制，且透過卡門濾波器估算出軌跡後，可使視覺追蹤系統的追蹤過程更為流暢。本論文透過模擬與實作分析並驗證整體系統之可行性，視覺追蹤系統確實可以將落點資訊估算出來，並由全向移動機器人攔接拋體。

The main purpose of this thesis is to study a multi-camera visual tracking system, which guides an omnidirectional mobile robot to catch a projectile. In the vision tracking system, two image sensors are used to provide stereo vision. The vision system is able to track the throwing projectile according to it’s color information. After the position of the projectile has been determined by Kalman filter, the omnidirectional mobile robot moves to the point of fall which is sent to the robot via a wireless communication module. Through simulation and experiments, this thesis has shown the feasibility of the designed system. The projectile can be truly tracked by the active stereo vision system, and the omnidirectional mobile robot can also catch the projectile.

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