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| 研究生： |
梁中彝 Chung-Yi Liang |
|---|---|
| 論文名稱： |
創新無人機自拍系統和技術實現 Innovative Drone Selfie System and Implementation |
| 指導教授： |
林其禹
Chyi-Yeu Lin |
| 口試委員: |
林其禹
Chyi-Yeu Lin 郭重顯 Chung-Hsien Kuo 邱士軒 Shih-Hsuan Chiu 陳金聖 Chin-Sheng Chen 宋開泰 Kai-Tai Song |
| 學位類別： |
碩士 Master |
| 系所名稱： |
工程學院 - 機械工程系 Department of Mechanical Engineering |
| 論文出版年： | 2017 |
| 畢業學年度： | 105 |
| 語文別： | 英文 |
| 論文頁數： | 43 |
| 中文關鍵詞： | 無人機自拍 、影像伺服 、照片範本 、全自主控制 |
| 外文關鍵詞： | drone selfie, visual servoing, photo template, autonomous operation |
| 相關次數： | 點閱：696 下載：15 |
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本論文實現了一個創新全自主自拍無人機系統。本系統之自拍功能從先在程式內選出一張自拍照模板開始，無人機將會飛到特定位置與角度去拍出與模版相同效果的照片。當中拍照效果的參數包含拍照人物對象的位置、大小，相對於相機的左右角度與相機俯仰角。本研究研發出一套影像處理技術去偵測無人機即時回傳的影像中拍照對象的拍照效果參數，與影像伺服控制系統來指引無人機飛行到可拍出相同效果相片的位置。透過多次實驗，本創新無人機系統已驗證其可行性。
In this thesis, an innovative and world-first system for the drone to conduct the assigned selfie-mission in a fully autonomous manner was implemented. The selfie mission will start at the selection of selfie-photo templates by the user on the APP, and after that the drone will fly to its required positions to shoot the selfie-photos to match the same effects as defined in the selected templates. The effect parameters comprise the position and the size of the body, and the pan and tilt angles of the body in the photo. This research developed image processing techniques to detect the values of parameters on the current image took by the drone, and a visual servoing-based control system to guide the drone to fly to where for it to shoot the matching photos. The innovative drone selfie system has been proven effective in a number of experiments.
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[19] J. H. Li, J. T. Kim, M. J. Lee, H. J. Kang, and M. J. Kim, “3D Path Tracking of Underactuated AUVs with General Form of Dynamics,” 2015 15th International Conference on Control, Automation and Systems, pp. 249-252, 13-16, October, 2015, Busan, Korea.
