活動在生活中是不可或缺的，如果沒有活動就是失去了生活。當我們在活動時各
種不同的移動又該如何被發現呢?
移動物體的偵測是一個變因很多的困難課題。對於我們人類要辨別出一個移動物體
在何方並不困難，因為我們都擁有銳利的雙眼，我們看到的世界都是三維世界並且我們
可以透過聰明的大腦來估測每個不同的移動物體大概離我們的方位和距離。但是我們如
何縮短機器科學和聰明的人類之間的差異呢?如果可以縮短之間的差異我們就能建構出
一套自動化系統有效的偵測到移動物體。所以本文將針對移動中物體-自製機器鼠,由動
態的立體視覺攝影機(stereo vision system)擷取影像，提出一套以改良型鑽石演算法
為基礎的影像處理追蹤系統，並用模糊控制對即時影像做出正確追蹤。

Motion is the fundamental of life. No life if no motion. How can be the motion
discovered?
Motion detection is a very difficult problem for solving. It’s not a big problem for human
and animals to solve whether there is or not motion in an observed scene because of their
natural ability to see in 3D and to analysis the environment using the potential of their brain.
Therefore, the problem is that we cannot create a system, which is similar to psycho
physiological parameters of human beings vision. What we can do is to shorten the distance
between the ability of human and a technical system, which will be able to discover motion in
a scene like human beings, approximately. The purpose of this conference is to create
functional and faster models for the robotic rat motion detection with modified diamond
search using binocular stereo vision. Using binocular stereo vision with improved diamond
search algorithm and frame subtraction to detect out the rat motion and track it in automatic
fuzzy control.

REFERENCES
[1] L. Yang, K. Yu, Jiang Li, and S. Li, “An effective variable block-size early termination
algorithm for h.264 video coding,” IEEE Trans. on Circuits and systems for video
technology, Vol.15, no. 6, pp. 118-121, June 2005.
[2] S. Zhu and K.K. Ma, “A new diamond search algorithm for fast block matching motion
estimation,” IEEE Trans. Image Processing, Vol. 9, pp. 287-290, Feb. 2007.
[3] J. Kim and R. Park, “A fast feature-based block matching algorithm using integral
projections,” IEEE Jour. Sel. Areas in Comm., Vol.10, no.5, pp. 968-971, Jun. 1992.
[4] A. Chang, O.C. Au, Y. M. Yeung, “A Novel Approach to Fast Multi-Block Motion
Estimation For H.264 Video Coding,” Multimedia and Expo, 2003. ICME ''03.
Proceedings. 2003 International Conference on Multimedia, Vol.1, pp.105- 108, July
2003.
[5] R. Li, B. Zeng, and M. L. Liou, “A new three-step search algorithm for block motion
estimation,” IEEE Trans. Circuits Syst. Video Technol., Vol. 4, pp. 438–442, Aug. 1994.
[6] Z. Ce, L. Xiao, L.P. Chau, K.P. Lim, H.A. Ang, , C.Y. Ong, “A novel hexagon-based
search algorithm for fast block motion estimation,” IEEE Trans. Circuits. Syst. Video.
Technol., Vol.12, pp. 349–355, Jun. 2002.
[7] T. Sappasitwong and S. Aramvith, “Adaptive asymmetric diamond search algorithm for
block-based motion estimation,” International Conference on Digital Signal Processing,
Vol.2, pp.1–3, July 2002.
[8] J. Arai, H. Hoshino, M. Okui, and F. Okano, “Effects of focusing on the resolution
characteristics of integral photography,”J. Opt. Soc. Am. A, Vol.20, pp. 996-1004, June
2003.
[9] F. Okano, M. Kawakita, J. Arai, H. Sasaki, T. Yamashita, M. Sato, K. Suehiro, and Y.
Haino, “Three-dimensional integral television using extremely high-resolution video
system with 4000 scanning lines,” Proc. of SPIE, Vol.6778, pp. 1- 13 , Feb. 2007.
[10] L.A. Zadeh, “Fuzzy Sets,” Inform. Control, Vol.8, pp. 338-353, May 1965.
[11] Y. Nie and K.-K. Ma, “Adaptive rood pattern search for fast block-matching motion
estimation,” IEEE Trans. Image Processing, Vol.11, pp. 1442-1449, Dec. 2002.
[12] A. Tourapis, O. C. Au, and M. L. Liou, “Highly efficient predictive zonal algorithm for
fast block-matching motion estimation,” IEEE Trans. Circuits Syst. Video Technol.,
Vol.12, pp. 934-947, Oct. 2002.
[13] X. Yi, L. Nam, “Rapid block-matching motion estimation using modified diamond
search algorithm,” IEEE Trans. Circuits. System, Vol.6, pp. 5489–5492, Dec. 2005.
[14] http://www.vision.caltech.edu/bouguetj/calib_doc/index.html.
[15] Y.T. Wang, “The implementation of a Real-Time Object Estimating System Using the
Binocular Stereo Vision Based on DSP,” Institute of Electrical Engineering NTUST,
Thesis, Jun. 2007.
[16] W.J. Wang, Understanding Fuzzy, 3rd edition, Chuan Hua publishing company, Taipei,
Mar. 2006.
[17] C.W. Lam, L.M. Po, C.H. Chung, “A novel cross-diamond search algorithm for fast
block motion,” IEEE. Trans. Circuits. Syst. Video. Technology, Vol.12, pp.1168–1177,
Nov. 2002.
[18] B.G. Kim, S.K. Song, P.S. Mah, “Enhanced block motion estimation based on
distortion-directional search patterns,” Pattern Recognition Lett., Vol.27, pp. 25– 35, Jun.
2006.
[19] H.Y. Wang, S.S. Yu, “An Iterative Based Novel Multi-Nucleus Detection Scheme for
Protozoan Parasite Microscopic Images,” IJICIC Computing, Information and Control
Vol.5, pp. 1446–1452, Nov. 2009.
[20] K.C. Koh and H.S. Cho, “A smooth path tracking algorithm for wheeled mobile robots
with dynamic constraints,” Journal of Intelligent and Robotic Systems, Vol.24, pp.
367–385, Sep. 1999.
[21] L. Luo, C. Zou and X. Gao, “A New Prediction Search Algorithm for Block Motion
Estimation in Video Coding,” IEEE Trans. Consumer Electronics, Vol.43, No. 1, pp.43-48,
Feb. 1997.