昆蟲複眼的結構，造就其對運動目標物具有準確與快速反應的獨特能力，若能將此技術轉移至工程應用的層面時，將可大幅度提升影像追蹤的實質成效。而在連續變動的影像平面上，攝影機與環境之相對速度會造成影像平面上各個像素的亮度變化，即所謂的光流。以光流為基礎的視覺伺服僅需得知其亮度資訊，擁有不用事先得知目標物的特徵的優點，因此可以廣泛地應用在各種定位與追蹤的工作上。
本文目的在於發展一套具有三眼鏡頭之影像伺服系統，為模擬昆蟲複眼結構的方式，採取發散式的排列方式。並結合離散滑動控制，利用控制器的強健性，在不知結構參數的狀態下，運用光流變動的原理，對二維方向運動的無特徵移動物進行追循定位的工作。

It has been well known that the 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. The brightness variation, caused by relative velocity of the camera and environment in a sequence of images, is called optical flow. The advantage of the optical-flow-based visual servo methods is that features of the moving object do not have to be known in advance. Therefore, they can be applied for general positioning and tracking tasks.
The purpose of this thesis is to develop a visual servo system with trinocular cameras. For mimicking the configuration of compound eyes of insects, the arrangement of the divergent trinocular cameras is applied. In order to overcome possible difficulties of unknown or uncertain parameters, an image servo technique using the robust discrete-time sliding-mode control algorithm to track an object moving in 2D space is developed.

目錄 .......................................................................................................... ⅰ
圖索引 ...................................................................................................... ⅲ
表索引 ...................................................................................................... ⅵ
摘要 .......................................................................................................... ⅶ
Abstract ..................................................................................................... ⅷ
第一章 緒論 .............................................................................................. 1
1.1 研究動機與目的 ........................................................................ 1
1.2 文獻回顧 .................................................................................... 2
1.3 論文架構 .................................................................................... 4
第二章 光流系統 ...................................................................................... 6
2.1 光流及影像流之定義 ................................................................ 6
2.2 亮度變動方程式 ........................................................................ 8
2.3 亮度變動方程式之修正 .......................................................... 12
2.4 追循模式探討 .......................................................................... 13
第三章 發散式三眼鏡頭系統模式 ........................................................ 15
3.1 空間幾何投影與平面光流 ...................................................... 15
3.2 機台做動時攝影機所得之光流 .............................................. 18
第四章 控制架構 .................................................................................... 26
ii
4.1 動態方程式 .............................................................................. 27
4.2 離散滑動模式控制 .................................................................. 28
4.2.1 參數之估測 ............................................................................ 32
第五章 系統模擬 .................................................................................... 46
5.1 模擬架構 .................................................................................. 46
5.2 模擬實驗結果 .......................................................................... 50
第六章 影像追循實驗 ............................................................................ 59
6.1 實驗設備說明 .......................................................................... 59
6.2 實驗與驗證 .............................................................................. 64
第七章 結論與未來展望 ........................................................................ 81
參考文獻 .................................................................................................. 83

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