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研究生：	林寬穎 Lin, Kuan-Ying
論文名稱：	移動目標即時追蹤系統之研究 Study of Real-Time Moving Target Tracking System
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：	2003
畢業學年度：	91
語文別：	英文
論文頁數：	84
中文關鍵詞：	馬達定位控制、自調式控制器、影像追蹤、類神經網路
外文關鍵詞：	self-tuning controller, target tracking, image, PID control, neural network
相關次數：	點閱：130 下載：2
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This thesis presents a novel approach and its realization of a visual tracking system. The objective is to track a moving target and maintain its position in the middle of the image. Recently, growing interest has concentrated upon tracking human motions. The proposed strategy is also able to track the human or object by detecting their movements in complex real scenes.
This thesis proposes an improved projection technique for object detection in dynamic environments. Moreover, a self-tuning proportional-integral-derivative (PID) control scheme based on neural network is proposed for tracking the trajectory of the moving target. These two strategies are integrated into a PC based real-time visual tracking system.
To demonstrate the advantages of the proposed approach, both computer simulations and experiments are executed in this thesis. During the computer simulation, different cases are adopted to evaluate the feasibility for the proposed strategy. In real experiments, the results show that the developed approach has excellent performance to achieve high-precision and high-efficiency visual tracking system.

Abstract………………………………………………………………I
Acknowledgements……………………………………………………II
Contents………………………………………………………………III
List of Figures and Tables………………………………………VI
List of Symbols……………………………………………………X

Chapter 1 Introduction……………………………………………1
1 Motivation……………………………………………………1
2 Structure of the Thesis……………………………………5

Chapter 2 Image Processing………………………………………7
1 Machine Vision………………………………………………7
2 Sampling and Quantization of Image……………………8
3 Concepts of Image Processing……………………………9
4 Strategies of Vision Tracking…………………………10
4.1 Difference Image………………………………………11
4.2 Moving Edge Detection………………………………12
4.3 Contour Search…………………………………………12
4.4 Block Matching…………………………………………15
5 Proposed Algorithms for Object Detection……………16
5.1 Segmentation of Image…………………………………17
5.2 Projection of Object…………………………………18
5.3 Determination of Position……………………………21
5.4 Block Diagram of Complete Procedure………………22

Chapter 3 Neural-Network-Based Self-Tuning PID Controller…24
1 Configuration of PMSM Drive……………………………24
2 The Proposed Control Scheme………………………………26
2.1 Updating the NNPID Speed Controller………………29
2.2 Updating the NNPID Position Controller…………30
3 Algorithm for Proposed Control Scheme…………………32

Chapter 4 System Integration and Computer Simulations……34
1 IBVS and PBVS Systems………………………………………34
2 System Integration…………………………………………35
3 Computer Simulations………………………………………38

Chapter 5 Design of DSP Card with PCI Bus Interface………52
1 Introduction of PCI Bus……………………………………52
2 PCI 9052 Controller…………………………………………54
3 TMS320F240 DSP Controller…………………………………56
4 Developed DSP Card with PCI Interface…………………58
5 Application……………………………………………………62
6 Summary…………………………………………………………63

Chapter 6 Experiments………………………………………………64
1 Experimental Apparatus……………………………………64
2 Experimental Procedure……………………………………66
2.1 Flowchart of the Procedure…………………………66
2.2 Measurement of Position and Speed…………………67
3 Experimental Results………………………………………69

Chapter 7 Conclusion………………………………………………79

References……………………………………………………………81
Vita……………………………………………………………………84
                                    

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校內：2004-08-18公開
校外：2004-08-18公開

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