Title page for etd-1005113-111707


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URN etd-1005113-111707
Author Kun-Hung Li
Author's Email Address No Public.
Statistics This thesis had been viewed 5341 times. Download 673 times.
Department IAMPUT
Year 2013
Semester 1
Degree Master
Type of Document
Language zh-TW.Big5 Chinese
Title Feature-Based Motion Estimation for Underwater Towed Camera
Date of Defense 2013-11-01
Page Count 112
Keyword
  • OpenCV
  • SURF
  • Motion Estimation
  • TowCam
  • Abstract When TowCam (Towed Camera System) is under the deep sea exploration, its
    moving track and heading always have different direction with degree of α caused
    by the current. This situation will make images shot by the camera mounted on
    the vehicle to difficultly be processed by the photo mosaicking method and get the
    deformed or unaccepted mosaic results. In this thesis, we used the SURF (speeded-up
    robust feature) algorithm to extract the critical point of the shot image to estimate
    the declination between the heading and the track for future development of visual
    servo control of TowCam. The images shot by the Twist-Pair TowCam (TP-TowCam)
    were also used to check the reliable of estimated algorithm in the filed experiment test
    and to find the best Hessian threshold value of SURF algorithm for the estimation.
    The results of algorithm showed the good estimation even in the turbid condition and
    the acceptable displacement of moving vehicle in the unit time was also increased,
    indicating the improvement of evaluation.
    Advisory Committee
  • Chi-Cheng Cheng - chair
  • Hsin-Hung Chen - co-chair
  • Chau-Chang Wang - advisor
  • Files
  • etd-1005113-111707.pdf
  • Indicate in-campus at 2 year and off-campus access at 2 year.
    Date of Submission 2013-11-05

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