視覺是人類最先進的感官，所以影像在人的感知上扮演著極為重要的角色；隨著電腦科技不斷的進步，影像處理的技術也日益的成熟。但過往移動物的偵測與追蹤皆以定點式攝影機為主；當移動物移出鏡頭外，便無法再進行追蹤，為改善此項缺點，以及減少攝影死角，本論文提出目標物即時影像追蹤系統，由一8051架構且具USB2.0功能的MCU以GPIO擷取PAS6311 CMOS Sensor的Bayer矩陣資料，透過USB2.0的BULK傳輸模式送至電腦端，以雙線性內插法，還原成彩色影像資料；再透過Lam自動白平衡演算法，修正影像顏色，並藉由邊緣化與影像相減等方法計算出移動物座標。而針對移動物座標周圍，利用HSV 色彩模型之H(色相)分析其顏色直方圖並計算出顏色分佈機率函數，再透過CamShift演算法對該移動物之顏色進行追蹤。最後由電腦端透過USB下達移動命令給MCU驅動3顆直流馬達，分別為上下、左右與飛彈發射功能，藉此達到移動物追蹤並攻擊的效果；經驗證後確實可以有效偵測移動物並進行追蹤。

Vision was the most advanced sense of human, and it holds a very responsible sense for image capture. Computer techno is moving forward, the technical innovations in image process was maturity, but not completed. In convention, most image target detecting and tracking was based on build-in video camera. Unfortunately, it will inactive when the target out of the shoot. This thesis addressed one real-time target tracking system methodology for improving the tracking dead-zone. Whole system integrates embedded USB 2.0 engine 8051-based MCU, PAS6311LT CMOS image sensor, 3-dimensions DC motor driving controller and addressed image processing algorithm. In the hardware driving part, MCU captures the digital image data and passes through to computer via USB interface channel. Major image processing and tracking algorithm implementation was based on computer (includes Bayer pattern transfer, bilinear interpolation, Lam auto white balance, HSV color space analyze and CamShift algorithm, etc.) This thesis applies addressed methodology in a “Launching-Pads” module to verify the performance, from exprimental, addressed methodology is proved to work well and effective.

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