碩士 / 國立臺灣海洋大學 / 機械與機電工程學系 / 97 / The objective of the thesis is to investigate the problems of the dynamic tracking and the states estimation of underwater object. The results of the research can contribute to the real-time detection of underwater object in a complex environment, by reducing the influence of light and the interferences from the background or foreground objects. In the experiment, after the image of target object was captured, we employed Kalman filtering technique to predict object's position at the next instant to enhance the image process speed. Then, by reducing the interferences from the surrounding objects with similar characters, the PTZ camera could automatically track the target by capturing the target in a square window and keeping it close the center area of the screen.
The research integrated the techniques of visual feedback, Kalman filter estimation and controlling of PTZ cameras, to achieve the abilities of dynamic underwater target tracking and estimation. The experimental results showed that the predicted position estimated by the Kalman filter would lead the corresponding measured position approximately. For the influence of a strong light source, we adopted the YCrCb color space to reduce the light effect. Image process techniques such as median filter, erosion and dilation, and connect component were integrated to deal with the influences of random noises, so as to separate the target from the background images. The system was proved to be effective in the underwater target tracking and estimation.
| Identifer | oai:union.ndltd.org:TW/097NTOU5489040 |
| Date | January 2009 |
| Creators | 劉家興 |
| Contributors | Chen-Chou Lin, 林鎮洲 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 72 |
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