Title page for etd-0716110-134851


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URN etd-0716110-134851
Author Tsan-Chu Lu
Author's Email Address No Public.
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Department Mechanical and Electro-Mechanical Engineering
Year 2009
Semester 2
Degree Master
Type of Document
Language zh-TW.Big5 Chinese
Title Uncalibrated Visual Servo for the Remotely Operated Vehicle
Date of Defense 2010-06-30
Page Count 78
Keyword
  • uncalibrated visual servo
  • adaptive control
  • SIFT
  • Abstract 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.
    Advisory Committee
  • Inn-Chyn Her - chair
  • Chau-Chang Wang - co-chair
  • Chi-Cheng Cheng - advisor
  • Files
  • etd-0716110-134851.pdf
  • indicate access worldwide
    Date of Submission 2010-07-16

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