由於電腦運算速度的提昇，近年來影像處理技術與運用也越來越廣泛，尤其以視訊會議、人臉辨識、影像追踨、電腦視覺等都有學者研究。然而在影像追蹤方面，以往的相關研究中多半以靜止的攝影機及單純的背景下來進行追蹤，其效果有限。因此，本論文以背景更新方式搭配高斯模型，並利用Otsu演算法來判斷移動目標物。系統架構，包含(1)以ARM為基礎並結合自走車之追蹤平台，透過無線網路傳送即時影像與接收控制訊號，調整自走車位置以追蹤目標物；(2)以PC為基礎之辨識平台，處理由追蹤系統傳來的即時影像，判斷目標物件位置下達控制命令，驅動追蹤系統之自走車，使得目標物件保持在即時影像的中間。經實驗結果證實，本論文提出之即時目標移動物件追蹤系統可以有效地追蹤特定移動目標物件並標定其中心位置。

Recently, the technology of image process has been widely applied into various fields such as video-conferencing, computer vision and face tracking due to the rapid growth of computer science. However, the developments of tracking systems are locked because most studies have used the still camera and the pure background. Therefore, a wireless real-time tracking system based on background subtraction, gauss motion model and Otsu algorithm is proposed in this study to identify the moving object and then pursue it. This system consists of (a) the tracking platform with ARM and robot and (b) the image recognition system, that that regulates the location of the robot to trace the object and identifies the location of the object from real-time image, respectively. In practice, the results of the study show that the proposed system can effectively trace the specific moving object and mark the object in the center of the view.

參考文獻
[1] F. Y. Hu, Y. N. Zhang, and L. Yao, “An effective detection algorithm for moving object with complex background” , in Proc.of Machine Learning and Cybernetics, 2005, pp. 5011-5015
[2] L. Tiehan, B. Ozer, and W. Wolf, “A real-time background subtraction method with camera motion compensation”, in Proc. of IEEE Int. Conf. Multimedia and Expo, 2004, pp. 331-334.
[3] C. Anderson, Peter Burt and G. van der Wal, “Change detection and tracking using pyramid transformation techniques”, In Proceedings of SPIE - Intelligent Robots and Computer Vision, Vol. 579, 1985, pp.72-78.
[4] C.Kervrann, F.Davoine, P.Perez, R.Forchheimer, C.Labit , “Generalized likelihood ratio-based face detectionand extraction of mouth features”, Pattern Recognition Letters 18, 1997 , pp.899-912
[5] Otsu, N “A Threshold Selection Method from Gray Level Histogram, IEEE Transaction on Systems”, Man, and Cybernetics, SMC-8, 1978, pp.62-66
[6] C. Anderson, Peter Burt and G. van der Wal, “Change detection and tracking using pyramid transformation techniques”, In Proceedings of SPIE - Intelligent Robots and Computer Vision, Vol.579, 1985, pp. 72-78.
[7] Kapur, J. N., Sahoo, P. K. and Wong, A. K. C, “A new method for gray-level picture thresholding using the entropy of the histogram. Computer Vision,Graphics and Image Processing”, 1985, 29: pp.273-285. “”
[8] Tasi, W. H “Moment-preserving thresholding: a new approach. Computer Vision Graphics and Image Processing”, 1985,29:pp.377-393.
[9] Sahoo,P.K., S.Soltani,A.K.C. Wong and R.C.Chen, “A Survey of Thresholding techniques”, Com puter Vision, Graphics, and Image Processing, 1998.
[10] B. K. P. Horn and B. G. Schunck, “Determining optical flow” ,Artifical Intelligence, vol. 17, 1981,pp.185-203.
[11] E. Y. Lam, “Combining Gray World and Retinex Theory for Automatic White Balance in Digital Photography”, Proceed ings of the Ninth International Symposium on Consumer Electronics,June 2005, pp.134 -139.
[12] J. Chiang and F. Al-Turkait, “Color balancing experiments with the HP-photo smart-C30 digital camera”, PSYCH221/EE362 course project, Department of Psychology,Stanford University, U.S.A., 1999.
[13] G. Szego, “Orthogonal Polynomials”, Amer. Math. Soc., Providence R. I., Vol. 23, 4th ed , 1975.
[14] A. Tabatabai, “Edage Location and Data Compression for Digital Imagery”, Ph.D. dissertation, School of Elect. Engrg., Purdue University, Dec. 1981.
[15] 徐保羅, “Multi-Agent 全天駕駛輔助系統”,國立交通大學電機與控制工程學系,碩士論文, 2006
[16] 洪瑞祥, “以嵌入式PWM驅動之智慧型自主車設計與實現”,國立中正大學電機工程研究所, 碩士論文, 2005
[17] 陳錦杏，譚巽言，黃文增，林殷旭，自動白平衡之軟硬體共同設計，台北 技大學學報, Vol. 40-1, Accetped, Oct., 2006.
[18] “自動二值化之矩量恆定法”, http://cslin.auto.fcu.edu.tw/eduteach/imagexp/index.html
[19] “網路MTU相關設定方法”, http://www.euca.net/forums/showthread.php?t=778
[20] RicharStones.Neil Matthew 著， 吳德銘 譯，Linux 程式設計教學手冊，碁峰
[21] 蔣大偉 譯，建構嵌入式 LINUX 系統，Karim Yaghmour 著， O’REILLY。
[22] 連國珍 "數位影像處裡" 儒林圖書 2002
[23] 黃國峰,張真誠,陳同孝 "數位影像處理技術", 旗標圖書, 2004
[24] 繆紹剛 "數位影像處理 活用MATLAB", 全華圖書, 2005