This thesis presents a robust real-time active tracking system with a pan-tilt camera. The proposed visual servo framework is able to track a deformed object and maintain the target always inside the field of view. For the image processing, an efficient template matching and searching method using the mean-shift theory is developed. The robustness is achieved by appending the ratio histogram, a kernel function, and the template update to the framework when the target is deformed. Then the pan-tilt unit turns towards the target and keeps the target inside the field of view of the camera by feeding back the position information to a Kalman filter.
Experimental results show that the presented scheme works successfully when the target is vague or concealed or deformed. The visual tracking task can also be accomplished even when a similar object crosses over the target. In addition, the refreshing rate can be up to 60 frames per second.
| Identifer | oai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0717109-174103 |
| Date | 17 July 2009 |
| Creators | Lin, Chia-wei |
| Contributors | Her, Innchyn, Hsin-Hung Chen, Cheng, Chi-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-0717109-174103 |
| Rights | off_campus_withheld, Copyright information available at source archive |
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