| URN |
etd-1005113-111707 |
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| Author |
Kun-Hung Li |
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| Author's Email Address |
No Public. |
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| Statistics |
This thesis had been viewed 5576 times. Download 781 times. |
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| Department |
IAMPUT |
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| Year |
2013 |
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| Semester |
1 |
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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 |
Feature-Based Motion Estimation for Underwater Towed Camera |
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| Date of Defense |
2013-11-01 |
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| Page Count |
112 |
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| Keyword |
OpenCV
SURF
Motion Estimation
TowCam
|
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| 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. |
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| Advisory Committee |
Chi-Cheng Cheng - chair
Hsin-Hung Chen - co-chair
Chau-Chang Wang - advisor
|
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| Files |
Indicate in-campus at 2 year and off-campus access at 2 year. |
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| Date of Submission |
2013-11-05 |
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