本論文以自走車人物追蹤為研究方向，以雙眼網路攝影機作為感測器模擬人類視覺系統，針對人物頭部特徵為追蹤目標，首先利用正規化RGB分析膚色範圍後，鎖定人臉區域作為橢圓比對範圍，隨之使用預先建立好的橢圓模組對人臉區域內的Sobel輪廓進行比對，匹配度最高者即為人頭所在。並使用雙眼視覺重疊視野將影像平面之二維目標物座標透過幾何關係與參數矩陣，計算出目標物的三維座標，即可得知深度資訊。最後為了達到追蹤控制，使用X定位與Y定位，控制法則分別為模糊與比例控制，進行自走車原地旋轉及前後移動，成功追蹤人物移動。

The study focuses on a system which can track people with the autonomous mobile robot. The system uses two calibrated cameras to simulate human vision system, called stereo vision, to acquire human head by two correlated images. First, we apply the normalized RGB color model to catch the human skin which is the matching range of ellipse model. Then, Sobel operator is employed to search the face-silhouette template database. Finally, we calculate the depth information with homography matrix and triangle method to provide the real-time 3D position of human head. We use this information to achieve feedback control of robot. The mobile robot is also applied with a fuzzy reasoning system and PD controller to follow human movement, and the experimental result shows the proposed system perform the tracking task successfully.

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