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    Please use this identifier to cite or link to this item: http://ir.lib.ncu.edu.tw/handle/987654321/68886

    Title: 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
    Authors: 陳易廷;Chen,Yi-Ting
    Contributors: 資訊工程學系
    Keywords: 障礙物偵測;廣域;obstacle detection;wide-scope
    Date: 2015-07-30
    Issue Date: 2015-09-23 14:45:58 (UTC+8)
    Publisher: 國立中央大學
    Abstract: 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。
    ;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.
    Appears in Collections:[資訊工程研究所] 博碩士論文

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