廣域全周俯瞰監視系統中的障礙物偵測

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姓名

陳易廷(Yi-Ting Chen) 查詢紙本館藏

畢業系所

資訊工程學系

論文名稱

廣域全周俯瞰監視系統中的障礙物偵測
(Obstacle Detection in A Wide-scope Top-view Monitoring System)

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摘要(中)

道路交通事故的發生主要在於車輛行進中，駕駛人沒察覺到車輛周圍的物體而造成的碰撞意外。沒察覺的主要原因在於車體構造和後照鏡角度的限制所造成的。為了協助駕駛人注意車體周邊狀況，提升駕駛安全，減少人員傷亡和車體損傷，我們在本研究中提出一個廣域全周俯瞰監視與障礙物偵測系統。整個系統包含兩大部份：一是廣域全周俯瞰監視用於輔助駕駛監視車輛周遭的狀況，二是主動偵測車輛附近的障礙物並提醒駕駛人注意。
廣域全周俯瞰監視系統在車輛的四周架設廣角相機以拍攝周遭影像，利用離線程序計算相機內部參數、暗角參數、及扭曲參數。接著利用大型校正板，根據特徵點對應求得四張俯瞰影像之間的相對關係，將俯瞰影像整合成一張俯視車輛周遭的全周俯瞰影像，再以影像中心為圓心，將內圈和外圈兩個區域以不同的函數收縮影像，增加影像中車輛周圍的可視範圍，完成廣域全周俯瞰監視影像。最後將各參數建立一張查找表；在線上處理階段，以四部相機中取得亮度平均值最高的影像做為參考，調整其它影像的亮度，再根據查找表的資訊，內差產生即時的廣域全周俯瞰監視影像。
在障礙物偵測中，我們將四部相機的影像平均分割區塊，保留擁有強烈特徵的區塊，接著合併具有強烈特徵且相鄰的區塊，稱之為障礙物候選區塊。再利用判斷平面立面的程序，確認候選區塊中的物體為障礙物而非路面標線等平面物；最後利用查找表資訊，將障礙物的位置標示於廣域全周俯瞰影像以警示駕駛。
本論文增加了俯瞰監視下的可視範圍，輔助駕駛人在慢速或擁擠的道路上行車時能注意車輛周邊的狀況，預防交通意外的發生。此外車輛周圍增加的視野同時也提供額外車輛周邊資訊，經由本系統進一步分析，進行障礙物偵測，即使盲點區域發生危險，也能輔助駕駛人避免意外發生。

摘要(英)

A lot of traffic accidents are caused by driver′s incomplete understanding of the whole vehicle surroundings. To reduce the accidents caused by collision with surrounding obstacles, we mount four wide-angle cameras at the front, rear, and both sides of the vehicle to capture consecutive images; then we present a real-time wide-scope top-view monitor and obstacle detection system for driving and parking assistance.
In offline steps of wide-scope top-view monitor system, we first calibrate camera intrinsic parameters, distortion of lens, and vignetting effects of four wide-angle cameras. Then we calibrate the geometric relationships (extrinsic parameters) of four cameras using a big calibration board. Third, we calculate the feathering weights of pixels on overlapped image areas to produce a seamless surrounding top-view image. Fourth, from the image center, we utilize different function for different radius distance to shrink the seamless surrounding top-view to produce a wide-scope top-view image. At last, we build look-up tables for the mapping between the captured images and the surrounding synthesized image to speed up the processing. In online procedure, the proposed system interpolates and generates the surrounding synthesized image by those look-up tables directly.
In obstacle detection system, we have four camera images evenly divided blocks, retained the block with strong feature, and then merge the blocks with strong feature and being adjacent, known as the obstacle candidate blocks. Then utilize the plane-elevation process, confirm the candidate block objects as obstacles rather than pavement markings and other flat objects; and finally using the lookup table information, mark obstacle position on the entire wide-scope top-view image to warn drivers.

關鍵字(中)

★ 障礙物偵測
★ 廣域

關鍵字(英)

★ obstacle detection
★ wide-scope

論文目次

摘要 i
Abstract ii
誌謝 iii
目錄 iv
圖目錄 vii
表目錄 xi
第一章緒論 1
1.1 動機 1
1.2 系統概述 2
1.3 論文架構 4
第二章相關研究 5
2.1 車輛環場監視系統 5
2.2 暗角校正 8
2.3 扭曲校正 10
2.4 障礙物偵測 11
2.4.1 靜態資訊機器學習法 12
2.4.2 雙眼立體視覺法 13
2.4.3 單眼視覺法 14
第三章相機校正 20
3.1 相機參數校正 20
3.1.1 相機模型 20
3.1.2 相機參數校正方法 23
3.1.3 內部參數的條件限制式 24
3.1.4 求解內部及外部參數 25
3.1.5 估計最佳解 26
3.2 鏡頭扭曲校正 27
3.2.1 扭曲模型 27
3.2.2 估計扭曲參數 29
3.3 鏡頭暗角校正 30
3.3.1 暗角模型 31
3.3.2 估計暗角參數 31
第四章俯瞰轉換及接合 33
4.1 俯瞰轉換 33
4.1.1 相機內外部參數求解平面投影轉換 34
4.1.2 特徵點對應求解平面投影轉換 35
4.2影像對位 36
4.2.1 幾何轉換 37
4.2.2 計算剛體轉換 37
4.3 內插與色彩混和建表 39
4.3.1 內插 39
4.3.2 色彩混合 40
4.3.3 建表 41
4.4 亮度一致化 42
第五章廣域全周俯瞰影像之障礙物偵測 44
5.1 擴大可用影像範圍 44
5.1.1 傳統俯瞰監視系統的缺點 44
5.1.2 俯瞰監視系統之改進 45
5.2 特徵點偵測 48
5.2.1 邊點偵測 49
5.2.2 影像平均分區塊 50
5.2.3 合併相同物件之相同區塊 50
5.3 平面立面之判斷 51
第六章實驗 55
6.1 實驗環境 55
6.2 相機校正 56
6.3 廣域全周俯瞰監視系統 57
6.4 障礙物偵測 58
6.4.1 多障礙物偵測 59
6.4.2 偵測失敗分析 60
6.5 計算偵測正確率 61
第七章結論與未來展望 62
參考文獻 64

參考文獻

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指導教授

曾定章(Din-Chang Tseng)

審核日期

2015-7-30

推文