碩士 / 國立臺灣大學 / 造船工程學系 / 86 / Rich environmental information from sonar images can provide the
function of navigation and obstacle avoidance for an autonomous
underwater vehicle. However, besides noise, reverberation and
multipath effects, the images do not describe the location and
the shape of objects in water directly. Therefore, a method of
sonar image processing in determining the center, major and
minor axis and the orientation of objects is desired.The goal of
this thesis is to extract the features of objects in images and
to calculate the relative motion between the vehicle and
targets. After constructing the relations between objects in
sonar image sequences, we can calculate their displacements.
Because of the noise in images and the approximation of the
targets, there are errors in the results of calculation.
Finally, we use Kalman filter to estimate the trajectory of the
vehicle. The results show that it is feasible to estimate the
motion of the vehicle based upon environmental features in image
sequences.
| Identifer | oai:union.ndltd.org:TW/086NTU00345004 |
| Date | January 1998 |
| Creators | Chen, Sung-Yueh, 陳松嶽 |
| Contributors | J.Guo, 郭振華 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 53 |
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