DC 欄位 值 語言 DC.contributor 光機電工程研究所 zh_TW DC.creator 蔡金倫 zh_TW DC.creator Jin-Lun Cai en_US dc.date.accessioned 2020-8-5T07:39:07Z dc.date.available 2020-8-5T07:39:07Z dc.date.issued 2020 dc.identifier.uri http://ir.lib.ncu.edu.tw:88/thesis/view_etd.asp?URN=107327026 dc.contributor.department 光機電工程研究所 zh_TW DC.description 國立中央大學 zh_TW DC.description National Central University en_US dc.description.abstract 本研究使用單晶片電腦RaspberryPi 搭載單目鏡頭作為機器視覺系 統，經由UART 將控制所需之回授訊號傳輸至車體控制系統之微處理器 Arduino 控制自走車。機器視覺系統方面利用二值化、Canny 邊緣檢測、 閉運算、輪廓檢測等影像處理技術判斷鏡頭是否捕捉到停車格影像，並 利用相機校正取得單目相機之內參及外參，從而建立三維世界座標與二 維像素座標之間的對應關係，解算後取得相機與停車格之距離與偏航角 作為車體控制所需之參數。車體控制系統方面利用Arduino 接收之訊號 控制鏡頭轉動，並使用PID、PI 控制法輸出PWM 訊號控制馬達實現自 走車倒車入庫。 zh_TW dc.description.abstract This research uses a singlechip microcomputer RaspberryPi equipped with a monocular len as a machine vision system, and transmits the values required for control via UART to the microprocessor Arduino, serving as a vehicle body control system, to control the selfguiding vehicle. The machine vision system uses image processing techniques such as binarization, Canny edge detection, closed operation, and contour detection to determine whether the camera captures a parking grid image, and uses camera calibration to obtain the internal and external parameters of the monocular camera, thereby establish the correspondence between the threedimensional world coordinates and the twodimensional pixel coordinates, After calculation, the distance between the camera, the parking space and the yaw angle are obtained as parameters required for vehicle body control. In the body control system, the signal received by the Arduino is used to control the lens rotation, and the PID and PI control methods are used to output PWM signals to control the motor to realize selfguiding vehicle backward parking. en_US DC.subject 單目視覺 zh_TW DC.subject 相機校正 zh_TW DC.subject 自走車 zh_TW DC.subject 停車 zh_TW DC.subject 輪廓檢測 zh_TW DC.subject Monocular vision en_US DC.subject Camera calibration en_US DC.subject Selfguiding vehicle en_US DC.subject parking en_US DC.subject Contour detection en_US DC.title 單目視覺倒車入庫系統 zh_TW dc.language.iso zh-TW zh-TW DC.title A Backward Parking System based on Monocular Vision en_US DC.type 博碩士論文 zh_TW DC.type thesis en_US DC.publisher National Central University en_US