| Summary: | 碩士 === 國立彰化師範大學 === 電機工程學系 === 102 === The flight characteristics of a multi-rotor helicopter and its application modes are got more attentions in recent years. This thesis aims to study the feasibility of autopilot for a multi-rotor helicopter.The image processing algorithms are used to design a visualized quadrotor for tracking a target. A quadrotor equipped with the camera is to takes off that can grab the environment images. In this thesis, the image processing algorithms are designed for camera self-calibration to obtain the rotation matrix and translation matrix between a quadrotor and a tracking target.These parameters are used with the quadrotor kinematics to control the flying altitude, roll, yaw, and pitch to accomplish the purpose of tracking a target.Experimental results demonstrate that the proposed method of image processing for a flying quadrotor has the abilities to achieve camera self-calibration, and to track a moving target.
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