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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/43495
標題: | 以貝氏濾波器及可動式相機進行之影像追蹤暨其應用 Visual Tracking and Its Applications by Bayesian Filtering with Active Cameras |
作者: | Cheng-Ming Huang 黃正民 |
指導教授: | 傅立成(Li-Chen Fu) |
關鍵字: | 影像追蹤,影像伺服,貝式濾波器,機率資料連結濾波器,粒子濾波器,多目標物影像追蹤,多相機合作系統,可動式相機, Visual tracking,visual servoing,Bayesian filter,probabilistic data association filter,particle filter,multi-target visual tracking,multi-camera cooperative system,active camera., |
出版年 : | 2009 |
學位: | 博士 |
摘要: | 本論文提出了基於貝式濾波器發展的影像追蹤以及影像伺服系統。為了達到即時處理且強健的影像追蹤效果,機率資料連結濾波器和粒子濾波器等機率的方法論將擴展延伸來解決影像感測器所產生的一些問題。我們著重於在相機平台機構晃動、相似物體成像干擾、複雜環境、遮蔽、光亮變化等雜訊量測所下進行的目標物資訊估測,同時嘗試去克服物體成像在二維影像平面上,因而喪失與相機間的深度資訊,造成彼此間互相遮蔽狀況下的多目標物追蹤問題。
所發展出來的影像追蹤演算法也同時應用在可動式相機平台的即時影像伺服控制上,使單一一台可水平垂直旋轉相機平台同時伺服控制觀測多個目標物。延續影像追蹤以及影像伺服的技術,我們也特別設計了無人駕駛飛行器的影像伺服自動導航控制器,以持續追蹤鎖定空中的其他飛行器或對地面上的物體進行盤旋偵照。也更進一步利用我們所設計的影像追蹤與伺服演算法,開發成多個分散式的影像子系統,以建構成一個大型的監控合作系統,可同時操控多台可動式相機平台追蹤多個移動目標物,有效率地達成以少量相機進行廣大範圍區域的視覺監控。 The Bayesian filter based visual tracking and visual servoing systems are presented in this dissertation. In order to achieve the robust visual tracking performance in real-time, we extend some probabilistic methodologies, such as the probabilistic data association filter and the particle filter, to solve the problems generated by the vision sensor. We focus on target estimation with noisy measurements, which may be due to the mechanical noise arising from undesirable shaking of the camera, optical interference from similar objects, cluttered background, occlusions, and lighting changes, etc. We also try to overcome the target overlapping problem, which arises from loss of depth information of different targets with only 2-D visual observation. The proposed visual tracking algorithms are then applied to real-time control of the active camera platforms to fulfill the visual servoing function. Along this line of research, visual servoing systems are particularly designed such that an unmanned aerial vehicle (UAV) chases another aerial vehicle, an UAV performs the mission of aerial reconnaissance, and a single moving camera simultaneously tracks multiple targets. Moreover, we utilize our designed visual tracking and visual servoing algorithms to develop several distributed vision systems. A wide area surveillance system is constructed to track multiple moving objects through effective cooperation of multiple distributed vision sub-systems, each with a pan-tilt camera. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/43495 |
全文授權: | 有償授權 |
顯示於系所單位: | 電機工程學系 |
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ntu-98-1.pdf 目前未授權公開取用 | 9.12 MB | Adobe PDF |
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