| URN |
etd-0716110-134851 |
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| Author |
Tsan-Chu Lu |
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| Author's Email Address |
No Public. |
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| Statistics |
This thesis had been viewed 5570 times. Download 1618 times. |
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| Department |
Mechanical and Electro-Mechanical Engineering |
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| Year |
2009 |
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| Semester |
2 |
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| Degree |
Master |
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| Type of Document |
|
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| Language |
zh-TW.Big5 Chinese |
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| Title |
Uncalibrated Visual Servo for the Remotely Operated Vehicle |
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| Date of Defense |
2010-06-30 |
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| Page Count |
78 |
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| Keyword |
uncalibrated visual servo
adaptive control
SIFT
|
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| 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. |
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| Advisory Committee |
Inn-Chyn Her - chair
Chau-Chang Wang - co-chair
Chi-Cheng Cheng - advisor
|
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| Files |
indicate access worldwide |
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| Date of Submission |
2010-07-16 |
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