立體視覺伺服雙目標追蹤系統之發展

Development of a Dual-Target Tracking System Using Stereo Visual Servoing

10.29948/JAE.201104.0007

陳冠宇(Kuan-Yu Chen)；郭瑞濠(Ruei-Hao Kuo)；曾彥博(Yen-Po Tseng)；周晏德(Yen-De Zhou)

機器視覺 ； 立體視覺伺服 ； 雙目標追蹤 ； 影像追蹤 ； machine vision ； stereo visual servoing ； dual-target tracking ； image tracking

先進工程學刊

6卷2期（2011 / 04 / 01）

117 - 123

繁體中文

目標偵測和追蹤對於機器視覺系統而言是相當重要且基本的技術之一。本文的研究目的即在設計一套根基於立體視覺的雙目標追蹤系統，此系統由二組影像追蹤平台構成，分別具有二部攝影機和二個旋轉自由度，可以在動態影像中追蹤各自的移動目標。首先藉由顏色辨識和影像處理方法自連續影像中偵測分別具有不同顏色的移動目標，再經影像標籤化與面積過濾後即可求出各個目標在影像中的質心位置，最後運用立體視覺演算法估算個別目標與攝影機之間的相對位置，將此位置轉換成馬達控制訊號，影像追蹤平台即可追蹤移動目標物。

Target detection and tracking is one of the most important and fundamental technologies for a machine vision system. The purpose of this paper is to design a stereo vision-based dual-target tracking system. The system consists of two image tracking platforms, where one platform includes two cameras and two rotational degrees of freedom, can track their moving target in live video streaming. To begin with, we use color recognition and image processing methods to detect moving targets with different colors in continuous image streaming. Next, after the process of image labeling and filtering, the centroid of each target in image sequences will be determined. Finally, we can estimate the relative position between targets and cameras by stereo vision algorithm. With converting the relative position into motor control signals, the two image tracking platforms will be able to track their moving targets.

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