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研究生：	楊義順 Yang, Yi-shun
論文名稱：	以移動向量理論為基礎之影像導引追蹤系統之研究 Study of Image Guiding Tracking System Based on Motion Vector
指導教授：	陳添智 Chen, Tien-chi
學位類別：	碩士 Master
系所名稱：	工學院 - 工程科學系 Department of Engineering Science
論文出版年：	2009
畢業學年度：	97
語文別：	英文
論文頁數：	72
中文關鍵詞：	移動向量
外文關鍵詞：	motion vector
相關次數：	點閱：32 下載：3
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　　近年來，影像導引系統被廣泛的應用在各個領域，例如：行動載具之自動駕駛、飛彈追蹤系統、居家保全以及自走式機器人等等。影像導引系統主要是模擬人類的視覺，用來指引追蹤系統其目標物所在位置。本論文提出一個新穎的演算方法來達到“移動目標物追蹤”的目的。影像導引系統是先由CMOS sensor抓取灰階的圖像，再經本論文所提出的演算法將圖像經過二質化、邊緣偵測、動態估測等，最後將目標物移動後的位置偵測出來。影像處理的演算法結果用來提供驅動追蹤系統所需的資訊。在影像估測方面，提出一個簡單且有效率的演算法來使移動目標物的移動方向正確的被偵測出來，並且追蹤系統確實的移動到目標物移動後所停留的方向。本論文所提出的演算法只由單一顆DSP晶片來執行影像處理部份，搭配驅動的dsPIC晶片，建構出整個影像導引的追蹤系統。
　　為了證明本論文所提出的演算法的效能，利用靜態的實驗結果以及動態的實驗結果來證實，其靜態響應是展現影像處理演算法的效能，而動態響應是展現影像估測的效能。經由各種不同的實例所得到的實驗結果，來證明演算法其在現實環境的實用性。由實驗可知，本論文所提出的演算法結合簡單的硬體便能達到有效的移動目標物追蹤。

Recently, the image-guiding system is widely used in many applications, such as mobile vehicle auto-driving, missile tracking, security and autonomous mobile robot. The aim of image-guiding system is to imitate the human sense of vision. This thesis proposes a novel approach to perform the real world “moving target tracking ”task, which is able to guide a mobile vehicle. The image-guiding system uses the gray-level images from a CMOS sensor on the mobile vehicle to execute the image-processing. The scheme of image-processing provides the output information for drive the mobile vehicle. The motion estimation provides a simple and useful method between the moving target and desired output for tracking system. The overall algorithm is implemented by a single DSP chip combined with a dsPIC chip to achieve the real-time of target tracking.
To verify the effect of the proposed algorithm, experiments are executed to show the results of static response and dynamic response. The different experiments are adopted to prove the practicability in the real world. The experimental results demonstrate that the proposed algorithm combined with the hardware has good performance to achieve the target tracking task.

摘要.................................................................................................................................... Ⅰ
Abstract ............................................................................................................................. Ⅱ
Acknowledgements........................................................................................................ Ⅲ
Contents............................................................................................................................ IV
List of tables..................................................................................................................... Ⅵ
List of figures..................................................................................................................VII
Symbols...........................................................................................................................XIII
Chapter1 Introduction.............................................................................................. 1
1.1 Preamble ................................................................................................. 1
1.2 Outline of the Thesis ............................................................................... 4
Chapter 2 Image Processing Algorithm of the Computer Vision.............. 6
2.1 Image Processing .................................................................................... 7
2.2 Image Sensor........................................................................................... 8
2.3 Edge Detection........................................................................................ 9
2.4 Binary Image........................................................................................... 13
2.4.1 Threshold Value of Binary Image .................................................. 13
2.4.2 Optimal Adaptive Threshold Value................................................ 14
2.4.3 Shannon Entropy and Criterion ..................................................... 15
2.4.4 Image Subtraction .......................................................................... 20
2.5 Target Edge ............................................................................................. 21
2.6 Motion Estimation .................................................................................. 23
2.7TargetVector ............................................................................................. 27
2.8 Mapping 3D Object onto 2D................................................................... 29
Chapter 3 Hardware Setting of the Image-Guiding Tracking System.... 33
3.1 Image-Guiding System ......................................................................... 34
3.1.1 CMOS Sensor .............................................................................. 34
3.1.2 Communication between MCU and CMOS Sensor .................... 37
3.1.3 CMOS Sensor Initialize ............................................................... 38
3.2 Microprocessor Control Unit ................................................................ 39
3.2.1 Introduction of the DSP ............................................................... 39
3.2.2 The Control Unit of DC Motor .................................................... 40
3.2.3 Communication between MCU and the DC Motor ..................... 42
3.3 The Hardware of Overall System.......................................................... 45
3.3.1 Detail Information of DSP and CMOS sensor............................. 47
Chapter 4 Simulation and Experiment............................................................... 51
4.1 Image Processing Scheme....................................................................... 51
4.2 Simulations of Static Response............................................................... 52
4.3 Dynamic Response.................................................................................. 60
Chapter 5 Conclusion and Suggestion ................................................................ 67
5.1 Conclusion .............................................................................................. 66
5.2 Suggestion............................................................................................... 67
References........................................................................................................................ 68
Vita ..................................................................................................................................... 72
                                    

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校內：2010-07-20公開
校外：2012-07-20公開

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