In this thesis, an image-based uncalibrated visual servo is proposed for image tracking tasks in highly disturbed environment, such as a remotely operated vehicle performing observing or investigation objects
under the influence of undersea current. For the conditions that the target model and the camera parameters are unknown, the control framework
applies the scale invariant feature transform (SIFT) to extract image features. Furthermore, a robust adaptive control law is implemented to overcome the effect caused by camera calibration parameters. Then by
using three different types of camera¡¦s motion: pan, tilt, and zoom to maintain the target always at the central position on the image plane.
| Identifer | oai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0716110-134851 |
| Date | 16 July 2010 |
| Creators | Lu, Tsan-Chu |
| Contributors | Inn-Chyn Her, Chi-Cheng Cheng, Chau-Chang Wang |
| Publisher | NSYSU |
| Source Sets | NSYSU Electronic Thesis and Dissertation Archive |
| Language | Cholon |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0716110-134851 |
| Rights | unrestricted, Copyright information available at source archive |
Page generated in 0.0029 seconds