碩士 / 國立中山大學 / 機械與機電工程學系研究所 / 98 / 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:TW/098NSYS5490030 |
| Date | January 2010 |
| Creators | Tsan-Chu Lu, 呂璨朱 |
| Contributors | Chi-Cheng Cheng, 程啟正 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 78 |
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