Stabilization of an image based tracking system

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Tezin Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Mühendislik Fakültesi, Elektrik ve Elektronik Mühendisliği Bölümü, Türkiye

Tezin Onay Tarihi: 2015

Öğrenci: IRMAK ECE ŞENER

Danışman: MEHMET KEMAL LEBLEBİCİOĞLU

Özet:

Vision based tracking systems require high resolution images of the targets. In addition, tracking system will try to hold the tracked objects at the center of field of view of the camera to achieve robust and successful tracking. Such systems are usually placed on a platform which is to be controlled by a gimbal. The main job of the gimbal is to get rid of jitters and/or undesirable vibrations of the image platform. In this thesis, such an image platform together with its gimbal, and its controller will be modeled and simulated. The design of the controller will be done to yield the resultant system with the optimum performance. The study will be concluded with hardware-in-the-loop simulation studies and theoretical performances will be compared with the practical system’s performance.