Design and Implementation of Visual-servo-based Tracking Systems

• Main Authors: Jia-Min Lin, 林家民
• Other Authors: Ming-Tzu Ho
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/92446242666763384078

碩士 === 國立成功大學 === 工程科學系碩博士班 === 94 === The objective of this thesis is to develop a tracking system based on visual servo control. The system consists of two image sensors to imitate the human eyes so that the position of the target object can be obtained. The mechatronic system drives a laser pointer to indicate the position of the target object, and it will help us to evaluate the performance of the designed tracking system. The system consists of a mechanism, two motor actuators, an image processing module, image sensors, and a motor position controller. In this system, the image processing module and the motor position controller is implemented by a digital signal processor (TMS320C6416). The image sensor is a mono CMOS camera (PAS109B) from PixArt Technologies. The motion energy method is used for detecting the moving object. However, this method easily causes errors from the vibration of camera and the variation of the light source. In order to overcome this drawback, a proper threshold value is determined by the maximum entropy theorem from information theory. The influence of the variation of the light source is attenuated by using the chosen threshold. The system is developed and proven to function well through simulation and experiments.