早期有關影像的探討與運用大多侷限在單眼。近年來，已有逐漸朝向多鏡頭的趨勢。不過由於涉及複雜的相關性問題，研究雙眼以上的文章，大都集中在相機採包圍型排列，而朝向同一個物體目標。此外，昆蟲特殊的複眼結構，造就其對運動目標物具有準確與快速擷取的獨特能力。若能將此技術轉移至工程應用的層面，將可大幅度提升影像追蹤的實質成效。
本文目的為發展一套具有三眼鏡頭之影像伺服系統，藉由模擬昆蟲複眼結構的方式，對二維方向運動的目標物進行追尋。此三眼鏡頭採取發散式排列，且此系統可在忽略攝影機與目標物的距離資訊的狀況下進行追尋。

The study and application of machine vision in early years mostly focus on a single camera. However, the trend of research on multiple cameras has been developed recently. Due to highly complicated correlation among multiple images, the arrangement of multiple cameras was restricted to the encirclement layout for acquiring more than one views of a target object. Furthermore, it has been well known that the special architecture of insect compound eyes contributes outstanding capability for precise and efficient observation of moving objects. If this technique can be transferred to the domain of engineering applications, significant improvement on visual tracking of moving objects will be greatly expected.
This thesis builds a visual servo system with trinocular cameras by mimicking the configuration of compound eye of insects for tracking an object moving in 2D space. The arrangement of the trinocular cameras is divergent, and this system can function properly without the information of distance between the object and the cameras.

目錄 i
圖索引 iii
表索引 vi
摘要 vii
Abstract viii
第一章 緒論 1
1.1 前言 1
1.2 文獻回顧 4
1.3 論文架構 6
第二章 影像位移與演算法改良 8
2.1 影像插補法 8
2.2 機台追尋角度 13
2.3 改良演算法 17
第三章 影像擷取與目標物記號定位 19
3.1 擷取運動目標 21
3.2 目標物記號定位 26
3.3 發散式三眼架構探討 35
第四章 影像追尋實驗 40
4.1 實驗設備說明 40
4.2 實驗與驗證 45
4.3 實驗結果探討 92
第五章 結論與未來展望 94
參考文獻 96
附錄 攝影機間座標對應關係 98

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