本研究採用不同雷射光點位置演算法來探討水下雷測距之品質，並針對不同幾何光點外形進行測距品質的探討，同時運用多項式最小平方近似處理來探討測距品質，希望瞭解不同階次多項式迴歸對測距品質的影響。在光點位置演算法探討方面，本文採用亮度重心法、二次重心法及主成份分析法三種光點位置演算法對雷射光點原始影像及經多項式最小平方近似後處理影像進行光點位置估算。此外為瞭解不同雷射光點外型對測距品質之影響，本研究將雷射光點分別調整為圓形、垂直長軸橢圓、偏斜長軸橢圓、水平長軸橢圓四種幾何外形。實驗結果顯示雷射光點經線性最小平方近似處理所得到的品質為最佳，且雷射光點影像未經影像處理前，採用光點位置演算法所得到的差異較大，一旦雷射光點影像經線性最小平方近似處理後，光點位置演算法所得到的測距品質差異性較小，由此可知，線性最小平方近似處理法能夠降低測距品質與光點位置演算法的相依性。此外實驗結果顯示不論是原始影像或是經過最小平方近似處理過的影像，以主成份分析法所得到的測距品質最佳，二次重心法次之，亮度重心法最差，而在三種光點位置演算法中，只有主成份分析法的演算流程與橢圓雷射光點的方向性有關，而且以主成份分析法所得到的測距品質最好，由此可知雷射橢圓光點的方向性為影響其測距品質的重要因素。

Laser based underwater triangulation ranging is sensitive to the environmental conditions and laser beam profile. Also, its ranging quality is greatly affected by the algorithm choices for peak detection and for image processing. By utilizing the merging least-squares approximation for laser image processing, it indeed succeeds in increasing quality of triangulation ranging in water; however, this result was obtained on the use of a laser beam with nearly circular cross-section. Therefore, by using an ellipse-like laser beam cross-section for range finding, we are really interested in understanding the quality of range finding with different peak detection algorithms. Besides, the ellipse orientation of the laser spot projected on the image plane would be various. We are also interested in learning about the relationship between the ellipse orientation and the quality of range finding. In this study, peak detection algorithms are investigated by considering four different laser beam cross-sections which are ircle, horizontal ellipse, oblique ellipse, and vertical ellipse. First, we employ polynomial regression for processing laser image to study the effect of polynomial degree on quality of triangulation ranging. It was found that the linear regression achieves the best ranging quality than others. Then, according to this result, the ranging quality associated with peak detection is evaluated by employing three different algorithms which are the illumination center, twice illumination center and the illumination center with principal component analysis. We found that the ranging quality by using the illumination center with principal component analysis is the best, next is twice illumination center, and last the illumination center. This result indicates that the orientation of elliptical laser beam has an influential effect on the quality of range finding. In addition, the ranging quality difference among peak detection algorithms is significantly reduced by implementing the merging least-squares approximation rlaser image processing. This result illustrates that the merging least-squares approximation does reduce the effect of peak detection algorithm on the quality of range finding.

第一章 緒論
1.1前言
1.2研究動機與目的
1.3文獻回顧
1.4論文架構
第二章 研究方法
2.1影像多項式最小平方近似處理法
2.1.1影像處理流程
2.1.2影像處理演算法
2.2定義光點幾何外形
2.3主成份分析法
2.3.1主成份分析法概述
2.3.2主成份分析法的流程
2.4雷射光點位置演算法
2.4.1亮度重心法
2.4.2二次重心法
2.4.3主成份分析法
第三章 實驗架構與規劃
3.1實驗設備
3.2品質特性
3.3實驗因子與水準
3.4直交表配置
第四章 實驗結果
4.1結果與分析
4.1.1圓形光點
4.1.2垂直長軸橢圓光點
4.1.3偏斜長軸橢圓光點
4.4.4水平長軸橢圓光點
4.2驗證實驗
4.2.1圓形光點
4.2.2垂直長軸橢圓光點
4.2.3偏斜長軸橢圓光點
4.2.4水平長軸橢圓光點
4.3結論
第五章 光點位置演算法之測距品質
5.1原始影像光點位置的估算
5.1.1亮度重心法
5.1.2二次重心法
5.1.3主成份分析法
5.2影像處理後之光點位置的估算
5.2.1亮度重心法
5.2.2二次重心法
5.2.3主成份分析法
第六章 討論與結語

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