水下無人載具在執行作業如拍攝目標物時，會受洋流干擾而造成載具產生偏移。因此本研究將建構一以影像為基礎之免校正視覺伺服控制架構，使在未知目標物模型及攝影機參數下，以攝影機所拍攝之目標物影像，採用Scale Invariant Feature Transform (SIFT) 作為影像特徵萃取比對之方法，設計一適應性控制器。以此控制器之強健性，
克服對攝影機校正參數之誤差影響，並利用攝影機之pan-tilt 及zoom in/out 三種運動模式，使欲拍攝目標物維持於影像中心位置，達到影像追尋之目的。

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.

目錄 i
圖索引 iv
摘要 vii
Abstract viii
第一章前言 1
1.1 動機目的 1
1.2 文獻回顧 2
1.3 論文架構 5
第二章視覺伺服控制 7
2.1 以位置為基礎之視覺伺服 7
2.2 以影像為基礎之視覺伺服 9
2.3 複合式視覺伺服 10
2.4 免校正視覺伺服 10
第三章研究方法 12
3.1 控制架構 12
3.2 特徵萃取 13
3.2.1 尺度空間之極值偵測 13
3.2.2 特徵點篩選 17
3.2.2.1 移除低對比區域特徵點 17
3.2.2.2 移除邊緣特徵點 19
3.2.3 決定特徵點方向 21
3.2.4 建構特徵點描述向量 22
3.2.5 特徵匹配 23
3.2.6 Best -Bin- First (BBF) 24
3.3 攝影機動態模型 28
3.4 pixel-to-length ratio 30
3.5 控制器設計 31
3.5.1 回授線性化控制器 31
3.5.2 強健適應性控制器 33
3.6 攝影機變焦控制 38
3.7 系統控制流程 39
第四章系統模擬與分析 41
4.1 模擬裝置及場景 41
4.2 回授線性化控制器之系統模擬實驗 44
4.2.1 海流速度為定值之模擬實驗 44
4.2.2 海流速度為正弦之模擬實驗 47
4.3 強健適應性控制器之系統模擬實驗 51
4.3.1 海流速度為定值之模擬實驗 51
4.3.2 海流速度為正弦之模擬實驗 55
4.4 模擬實驗之驗證 58
第五章結論與未來展望 62
參考文獻 63

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