8328

7726

كارشناسي ارشد

هوش مصنوعي

اصفهان: دانشگاه صنعتي اصفهان، دانشكده برق و كامپيوتر

1392

نه،126ص.: مصور،جدول،نمودار

ص.ع.به فارسي و انگليسي

مازيار پالهنگ

3/10/92

محمدعلي منتظري، فريد شيخ الاسلام

مهندسي برق و كامپيوتر

ID7726

به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي

Design And Development of An Autonomous Underwater Vehicle For Detecting And Tracking Targets Based On Computer Vision Methods Mohammad Khojasteh fard m khojastefard@ec iut ac ir Date of Submission 2013 09 16 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language FarsiSupervisor Maziar Palhang palhang@cc iut ac irAbstract The desire to explore the resources of the seas and oceans is the main reason for the development ofunderwater robots Searching through underwater environment for detection and tracking targets is a usefulaction in this erea The solution of this problem will be useful in other branches of science such asMechanical engineering Control Biology and Artificial Intelligence From the perspective of artificialintelligence and robotics Computer Vision the underwater environment is considered for intelligentlyacting While active sensors such as sonars which have high energy and price were an ideal choice to use inunderwater environment there is a lost comings guide us to use other approaches This study aims to assessthe needs of building an autonomous underwater robot using vision sensors Among the most importantachievements of this research can be pointed to Reliance on very low cost components and sensors on theInternal market The idea of combining the two methods of key point SURF matching and color pursuitalgorithm CAMShift to find objects in the underwater environment id another new work According to theresults we can say it is not enough merely to use color in underwater environments beacause it would bemisguided robot due to the perturbation is caused by the different colors in the environment Also in manycases failure of the robot will be followed by the target Due to the use of local features SURF the workhas been done in this study less will failure Keywords Autonomous Underwater Vehicle Computer Vision SURF CAMShift Detecting and Tracking Target

مازيار پالهنگ

محمدعلي منتظري، فريد شيخ الاسلام