Lin, Kai Wun. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2011. / Includes bibliographical references (leaves 120-127). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgement --- p.iii / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Overview of the UAV Project --- p.1 / Chapter 1.2 --- Challenges on Vision System for UAV --- p.2 / Chapter 1.3 --- Contributions of this Work --- p.4 / Chapter 1.4 --- Organization of Thesis --- p.6 / Chapter 2 --- Image Sensor Selection and Evaluation --- p.8 / Chapter 2.1 --- Image Sensor Overview --- p.8 / Chapter 2.1.1 --- Comparing Sensor Features and Performance --- p.9 / Chapter 2.1.2 --- Rolling Shutter vsGlobal Shutter --- p.10 / Chapter 2.2 --- Sensor Evaluation through USB Peripheral --- p.11 / Chapter 2.2.1 --- Interfacing Image Sensor and USB Controller --- p.12 / Chapter 2.2.2 --- Image Sensor Configuration --- p.14 / Chapter 2.3 --- Image Data Transmitting and Processing --- p.17 / Chapter 2.3.1 --- Data Transfer Mode and Buffering on USB Controller --- p.18 / Chapter 2.3.2 --- Demosaicking of Bayer Image Data --- p.20 / Chapter 2.4 --- Splitting Images and Exposure Problem --- p.22 / Chapter 2.4.1 --- Buffer Overflow on USB Controller --- p.22 / Chapter 2.4.2 --- Image Luminance and Exposure Adjustment --- p.24 / Chapter 3 --- Embedded System for Vision Processing --- p.26 / Chapter 3.1 --- Overview of the Embedded System --- p.26 / Chapter 3.1.1 --- TI OMAP3530 Processor --- p.27 / Chapter 3.1.2 --- Gumstix Overo Fire Computer-on-Module --- p.27 / Chapter 3.2 --- Interfacing Camera Module to the Embedded System --- p.28 / Chapter 3.2.1 --- Image Signal Processing Subsystem --- p.29 / Chapter 3.2.2 --- Camera Module Adapting Board --- p.30 / Chapter 3.2.3 --- Image Sensor Driver and Program Development --- p.31 / Chapter 3.3 --- View-stabilizing Biaxial Camera Platform --- p.34 / Chapter 3.3.1 --- The New Camera System iv --- p.35 / Chapter 3.3.2 --- View-stabilizing Pan-tilt Platform --- p.41 / Chapter 3.4 --- Overall System Architecture and UAV Integration --- p.46 / Chapter 4 --- Target Tracking and Geo-locating --- p.50 / Chapter 4.1 --- Camera Calibration --- p.51 / Chapter 4.1.1 --- The Perspective Camera Model --- p.51 / Chapter 4.1.2 --- Camera Lens Distortions --- p.53 / Chapter 4.1.3 --- Calibration Toolbox and Results --- p.54 / Chapter 4.2 --- Selection of Object Features and Trackers --- p.56 / Chapter 4.2.1 --- Harris Corner Detection --- p.58 / Chapter 4.2.2 --- Color Histogram --- p.59 / Chapter 4.2.3 --- KLT and Mean-shift Tracker --- p.59 / Chapter 4.3 --- Target Auto-centering --- p.64 / Chapter 4.3.1 --- Formulation of the PID Controller --- p.65 / Chapter 4.3.2 --- Control Gain Settings and Tuning --- p.69 / Chapter 4.4 --- Geo-locating of Tracked Target --- p.69 / Chapter 4.4.1 --- Coordinate Frame Transformation --- p.70 / Chapter 4.4.2 --- Depth Estimation and Target Locating --- p.74 / Chapter 4.5 --- Results and Discussion --- p.77 / Chapter 5 --- Real-time Aerial Mosaic Building --- p.89 / Chapter 5.1 --- Motion Model Selection --- p.90 / Chapter 5.1.1 --- Planar Perspective Motion Model --- p.90 / Chapter 5.2 --- Feature-based Image Alignment --- p.91 / Chapter 5.2.1 --- Image Preprocessing --- p.91 / Chapter 5.2.2 --- Feature Extraction and Matching --- p.92 / Chapter 5.2.3 --- Image Alignment using RANSAC Algorithm --- p.94 / Chapter 5.3 --- Image Composition --- p.95 / Chapter 5.3.1 --- Image Blending with Distance Map --- p.96 / Chapter 5.3.2 --- Overall Stitching Process --- p.98 / Chapter 5.4 --- Mosaic Simulation using Google Earth --- p.99 / Chapter 5.5 --- Results and Discussion --- p.100 / Chapter 6 --- Conclusion and Further Work --- p.108 / Chapter A --- System Schematics --- p.111 / Chapter B --- Image Sensor Sensitivity --- p.118 / Bibliography --- p.120
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_327331 |
| Date | January 2011 |
| Contributors | Lin, Kai Wun., Chinese University of Hong Kong Graduate School. Division of Mechanical and Automation Engineering. |
| Source Sets | The Chinese University of Hong Kong |
| Language | English, Chinese |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, ix, 127 leaves : ill. (chiefly col.) ; 30 cm. |
| Rights | Use of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/) |
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