由於目標於空間的立體相對位置不易被適當的量測，因此三維空間軌跡追蹤為一具高難度行為。在此研究中，我們提出一個新的目標軌跡追蹤機制，應用機器視覺的方法來決定目標物在空間的立體位置與移動軌跡；本研究使用連續適應性均值追蹤演算法能強健且快速計算出目標物的相對位置，並使用立體視覺演算法計算出目標在空間中的相對立體位置。使用連續適應性均值追蹤演算法具有對環境光源的高容忍度並相對於樣板比對法有更快速的計算效率。本研究使用一對的網路視訊攝影機控制器來達到立體平衡追蹤系統。實驗結果證明立體視覺使用於物體軌跡追蹤系統可達到強健、快速及高效率的視覺追蹤控制及障礙物迴避。使用我們所發展的立體視覺伺服技術平台及軟體模組，藉由結合視覺與運動控制的技術可應用於無人駕駛車、機器人控制、安全監視系統等等。

Designing a real-time visual tracking system to perform control is a complex task because of a large amount of streaming video data must be transmitted and processed immediately when tracing the target. Usually, building such visual servoing systems requires the application of high-cost specialized hardware and the development of complicated visual control software. In this thesis, a novel low-cost, real-time visual servo control system is presented. The system uses the stereo vision consisting of two calibrated cameras to acquire images of the target, and applies the continuously adaptive vision tracking algorithm to provide feedbacks of the obejct’s real-time position at a high frame rate; and then employs a robot manipulator controlled by a fuzzy reasoning system to accquire the target. The collision avoidance method is also presented in this thesis for wheeled mobile robot navigation in indoors environments using feature extracting and matching algorithm. The target is tracked by its predetermined defined color. The mobile robot’s direction is dynamically adjusted according to its distance from the target and obstcles. This visual tracking and servoing system is less sensitive to lighting influences and thus performs more efficiently. The proposed real-time 3D visual servoing framework can be applied to the unmanned vehicle, robotics control and survillance systems.

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