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Abstract
THIS THESIS PRESENT AN INVESTIGATION INTO THE DESIGN OF A COMPUTER VISION SYSTEM AIMED AT TRACKING MOVING OBJECTS IN REAL-TIME ENVIROMENT BASED ON VISUAL SERVOING (VS) TECHNIQUES. APRACTICAL REAL-TIME OBJECT TRACKING ON IMAGE-BASED(IBVS AND HYBRID-BASED HBVS TECHNIQUESARE IMPLEMENTED, USING SINGLE CAMERA MOUNTED ON A DC-MOTOR.
THE PROPOSED ALGORITHMS USE THE MODIFIED FRAME DIFFERENCE AS AN OBJECT DETECTION TECHNIQUE INTEGRATED WITH (AREA,CINTER OF GRAVITY AND COLOR) AS A FEATURE BASED TO SEGMENT THE DETECTED OBJECT. THE POSITION OF THE INTERESTED OBJECT IS ESTIMATED from THE EXTRACTED FEATURES.
A CD-MOTOR POSITION AND DIRECTION FUZZY LOGIC CONTROLLER (FLC) IS IMPLEMENTED, THE WORK AIMS AT DEVELOPING A CONVENIENT WAY TO IMPLEMENT A PROPRTIONAL DERIVATIVE (PD-FLC) CONTROLLER THAT GENERATES A PULSE WIDTH MODULATED (PWM) CONTROL SIGNAL IN REAL TIME TO CONTROL THE POSITION OF THE MOTOR.