使用二維雷射影像系統之車輛防撞裝置

以作者查詢圖書館館藏

、以作者查詢臺灣博碩士

、以作者查詢全國書目

、勘誤回報

、線上人數：31

、訪客IP：18.216.51.7

姓名

陳建國(Jian-guo Chen) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

使用二維雷射影像系統之車輛防撞裝置
(A vehicle collision avoidance system using 2D laser imaging system)

相關論文

★ 使用梳狀濾波器於相位編碼之穩態視覺誘發電位腦波人機介面	★ 應用電激發光元件於穩態視覺誘發電位之腦波人機介面判斷
★ 智慧型手機之即時生理顯示裝置研製	★ 多頻相位編碼之閃光視覺誘發電位驅動大腦人機介面
★ 以經驗模態分解法分析穩態視覺誘發電位之大腦人機界面	★ 利用經驗模態分解法萃取聽覺誘發腦磁波訊號
★ 明暗閃爍視覺誘發電位於遙控器之應用	★ 使用整體經驗模態分解法進行穩態視覺誘發電位腦波遙控車即時控制
★ 使用模糊理論於穩態視覺誘發之腦波人機介面判斷	★ 利用正向模型設計空間濾波器應用於視覺誘發電位之大腦人機介面之雜訊消除
★ 智慧型心電圖遠端監控系統	★ 使用隱馬可夫模型於穩態視覺誘發之腦波人機介面判斷與其腦波控制遙控車應用
★ 使用類神經網路於肢體肌電訊號進行人體關節角度預測	★ 使用等階集合法與影像不均勻度修正於手指靜脈血管影像切割
★ 應用小波編碼於多通道生理訊號傳輸	★ 結合高斯混合模型與最大期望值方法於相位編碼視覺腦波人機介面之目標偵測

檔案

[Endnote RIS 格式]

[Bibtex 格式]

[相關文章]

[文章引用]

[完整記錄]

[館藏目錄]

至系統瀏覽論文 ( 永不開放)

摘要(中)

近年來，交通安全已經成為重要的議題，其中因為駕駛者沒有與前方車輛保持安全距離，而導致發生交通意外為大部分原因。為了確保駕駛者的行車安全，許多研究單位與汽車製造公司都致力於發展量測與警示系統，以提升安全性能與保護駕駛者的行車安全，此系統稱為進階安全駕駛輔助系統(Advanced Driver Assistance Systems, ADAS)。因此，本論文提出一種新的方法來偵測前方障礙物或路面凹陷，當偵測到障礙物或坑洞時，系統會提醒駕駛者保持行車安全間距，以提供駕駛者安全警示。
本系統中，我們使用一個CCD攝影機擷取即時影像輸入到電腦後，建立多重背景並且透過一致性方法比對出精確的影像樣板。接著，一個經由dsPIC 30F4011微處理器控制的2D雷射網格被使用於照射車輛前景，並得到一經過雷射照射的2D雷射照射影像。此2D雷射照射影像則伴隨著一個USB觸發信號，傳給個人電腦進行分析，利用2D雷射照射影像減去影像樣板，我們可以得到二維雷射影像前景網格資訊。此二維雷射前景網格資訊與標準二維雷射網格比對後，可以找出障礙物的位置與大小。接著顯示在LCD螢幕上並以聲音警示提醒駕駛者注意前方障礙物與保持行車距離，以達到車輛行車安全之目的。

摘要(英)

In recent years, traffic safety has become an important issue. Most traffic accidents happened because drivers do not keep a safe distance from front cars. In order to ensure drivers’ safety on road, research units and automobile manufacturing companies have engaged themselves to develop measurement and warning system to improve the safety performance of vehicles. These systems are known as advanced safety driving assist system (Advanced Driver Assistance Systems, ADAS). Therefore, this paper presents a new method to detect obstacles on road. When obstacles or gaps on road being detected, the system will remind the drivers to keep safety distances from obstacles or gaps, providing safety alertness to drivers.
In this study, we use a CCD camera to real-time capture the front scenes of vehicles. Establishing multiple background model and using a consistent approach to obtain accurate template images. A 2D laser lattice is then generated, controlled by a dsPIC30F4011 microcontroller to produce a 2D lattice-laser illuminated image. The 2D lattice-laser illuminated image, along with a USB trigger signal, is transmitted to a computer. The 2D lattice-laser illuminated image is subsequently subtracted by the template image to obtain a 2D lattice-laser pattern of front scene. By comparing the 2D lattice-laser pattern of front scene with the standard lattice pattern, the obstacles’ size and locations can be identified. The identified obstacles will be displayed on a LCD screen and the system verbally reminds the drivers of keeping safe distances from obstacles, to achieve the purpose of vehicle traffic safety.

關鍵字(中)

★ 影像切割
★ 進階安全駕駛輔助系統

關鍵字(英)

★ Image Segmentation
★ Advanced Driver Assistance Systems

論文目次

摘要 I
ABSTRACT II
致謝 III
目錄 IV
圖目錄 VI
表目錄 XI
第一章序論 1
1.1 研究動機 1
1.2 文獻回顧 3
1.3 論文架構 10
第二章相關研究與方法 11
2.1 影像物件分割（Segmentation） 11
2.1.1 灰階與彩色影像分割 11
2.1.2 一致性法（Consensus-Based） 20
2.2 相關性（Correlation） 27
2.2.1 樣板匹配 27
2.2.2 正規化相關匹配法（Normalized Cross Correlation） 29
第三章障礙物偵測影像系統設計 35
3.1 系統架構 35
3.2 影像比例轉換 37
3.3 樣板（Template）建立與更新 38
3.4 快速影像對正位置 41
3.5 二維雷射光線偵測 44
3.6 影像形態學（Morphology） 46
3.7 連接物件標籤化（Connected-Component Labeling） 49
3.8 障礙物標記與警示 51
第四章結果與討論 54
4.1 實驗環境 54
4.2 實測影像 59
4.2.1 路面障礙路況影像 60
4.2.2 路面凹陷路況影像 66
第五章結論與未來展望 74
5.1 結論 74
5.2 未來展望 75
參考文獻 76

參考文獻

[1] Jonathan Michael Roberts, “Attentive Visual Tracking and Trajectory Estimation for Dynamic Scene Segmentation”, Department of Electronics and Computer Science University of Southampton, December 1994.
[2] Richard Bishop, “A Survey of Intelligent Vehicle Applications Worldwide”, 2000 IEEE Intelligent Vehicles Symposium, 25 - 30 , 2000.
[3] Glenn R. Widmann, William A. Bauson and Steven W. Alland, “Development of Collision Avoidance Systems at Delphi Automotive Systems”, 1998 IEEE International Conference on Intelligent vehicles, 1998.
[4] Erez Dagan, Ofer Mano, Gideon P.Stein and Amnon Shashua,“Forward Collision Warning with a Single Camera”, 2004 IEEE Intelligent Vehicles Symposium, 37 - 42, 14-17 June 2004.
[5] Alberto Broggi, “Vision-Based Driving Assistance”, University of Parma, November-December 1998.
[6] 楊智傑，影像追蹤系統及其在車輛安全之應用，國立交通大學電機工程學系碩士論文，民國九十三年。
[7] 紀文亮，利用車道和汽車追蹤之智慧型CCD影像駕駛輔助系統，國立成功大學資訊工程系碩士論文，民國九十五年。
[8] Hai Huang and Geoff R. Fernie, “The Laser Line Object Detection Method in an Anti-collision System for Powered Wheelchairs”, 2005 IEEE 9th International Conference on Rehabilitation Robotics, 173 - 177 , 28 June-1 July 2005.
[9] N. M. Kwok, Q. P. Ha and G. Fang, “Effect of color space on color image segmentation”, 2009 2nd International Congress on Image and Signal Processing, 1 - 5, October 17-19 Oct. 2009.
[10] Dianyuan Han and Xinyuan Huang, “A Tree Image Segmentation Method Based on 2-D OTSU in HSI color space”, 2010 6th International Conference on Wireless Communications Networking and Mobile Computing (WiCOM), 1 - 4, 23-25 Sept. 2010.
[11] Sriram Jayaram, Stephen Schmugge, Min C. Shin and Leonid V. Tsap, “Effect of Colorspace Transformation, the Illuminance Component, and Color Modeling on Skin Detection”, 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, II-813 - II-818 Vol.2, 27 June-2 July 2004.
[12] WANG Yuedong and XUE Heru, “Studies on Color Space Selection and Methods of
Segmentation Quality Evaluation”, 2009 1st International Conference on Information Science and Engineering (ICISE), 1437 - 1440, 26-28 Dec. 2009.
[13] Raphael Gonzalez and Richard E. Woods, “Digital Image Processing, 2nd”, Prentice Hall Press, 2002.
[14] 楊惠琳，秀拉點描派之電腦模擬，國立台灣科技大學資訊管理系碩士論文，民國九十五年。
[15] 林文祥，以DSP實現移動物體影像的即時偵測與追蹤系統，國立台灣科技大學電機工程系碩士論文，民國九十五年。
[16] Christopher Richard Wren, Ali Azarbayejani, Trevor Darrell, and Alex Paul Pentland, “Real-Time Tracking of the Human Body”, 1997 IEEE Transactions on Pattern Analysis and Machine Intelligence, 780 - 785, Jul 1997.
[17] Ismail Haritaoglu, David Harwood and Larry S. Davis, “Multiple People Detection and Tracking Using Silhouettes”, 1999 Second IEEE Workshop on Visual Surveillance (VS’’99), 6 - 13, Jul 1999.
[18] HanziWang and David Suter, “A consensus-based method for tracking: Modelling background scenario and foreground appearance”, 2006 Pattern Recognition, Volume 40 Issue 3, 13 July 2006.
[19] Hsien-Huang P. Wu, Jen-Hung Chang, Ping-Kuo Weng and Ying-Yih Wu, “Improved moving object segmentation by multiresolution and variable thresholding”, 2006 Optical Engineering 45, November 2006
[20] Jianyun Zhu and Tsutomu Maruyama, “Real-time detection of line segments on FPGA”, 2010 International Conference on Field-Programmable Technology (FPT), 192 - 199, 8-10 Dec. 2010.
[21] 劉宜德，軟性電路板自動化視覺導引鑽孔系統之研發，國立中山大學電機工程系碩士論文，民國九十年。
[22] Kai Briechle and Uwe D. Hanebeck, “Self-Localization of a Mobile Robot using Fast Normalized Cross Correlation”, 1999 IEEE International Conference on Systems, Man, and Cybernetics, 720 - 725 vol.4, 1999.
[23] Bany H. Friemel, Laurence N. Bohs and Gregg E. Trahey, “Relative Performance of Two-Dimensional Speckle-Tracking TechniquesN: ormalized Correlation, Non-Normalized Correlation and Sum-Absolute-Difference”, 1995 IEEE Ultrasonics Symposium, 1481 - 1484 vol.2, 7-10 Nov 1995.
[24] 張元翔，Splines應用於影像內插法之研究，中原大學資訊工程學系碩士論文，民國九四年。
[25] 林姿宜，影像縮放於 H.264 編解碼應用之研究，國立中央大學通訊工程學系碩士論文，民國九十八年。
[26] 賈郁賢，在FPGA上之JVM實現即時影像辨識應用，國立雲林科技大學電子工程系碩士論文，民國一百年。
[27] Weiqiang Wang, “Modeling Background and Segmenting Moving Objects from Compressed Video”, 2008 IEEE Transactions on Circuits and Systems for Video Technology, 670 - 681, May 2008.
[28] Horng-Horng Lin, “Learning a Scene Background Model via Classification”, 2009 IEEE Transactions on Signal Processing, 1641 - 1654, May 2009.
[29] Baochang Zhang and Yongsheng Gao “Kernel Similarity Modeling of Texture Pattern Flow for Motion Detection in Complex Background”, 2011 IEEE Transactions on Circuits and Systems for Video Technology, 29 - 38, Jan. 2011.
[30] Alberto Faro and Daniela Giordano, “Adaptive Background Modeling Integrated With Luminosity Sensors and Occlusion Processing for Reliable Vehicle Detection”, 2011 IEEE Transactions on Intelligent Transportation Systems, 1398 - 1412, Dec. 2011.
[31] Fan-Chieh Cheng, Shih-Chia Huang, and Shanq-Jang Ruan , “Illumination-Sensitive Background Modeling Approach for Accurate Moving Object Detection”, 2011 IEEE Transactions on Broadcasting, 794 - 801, Dec. 2011.
[32] Zhengkun Liu and Zongjian Lin, “A fast and robust image matching method for the correlation coefficient”, 2011 International Conference on Remote Sensing, Environment and Transportation Engineering (RSETE), 4712 - 4716, 24-26 June 2011.
[33] Luigi Di Stefano and Stefano Mattoccia , “Fast template matching using bounded partial correlation”, 2003 Machine Vision and Applications, Volume 13, Number 4, 25 July 2001.
[34] 凌起銘, 以適應性背景相減法偵測及追蹤移動物體, 國立中央大學資訊工程學系碩士論文，民國九十三年。
[35] 劉佳諺，具強健性之基於紋理的背景相減法於影像中移動物件偵測，義守大學資訊工程學系碩士論文，民國九十六年
[36] Lifeng He, Yuyan Chao and Kenji Suzuki, “A Run-Based Two-Scan Labeling Algorithm”, 2008 IEEE Transactions on Image Processing, 749 - 756, May 2008.
[37] Costantino Grana, “Optimized Block-Based Connected Components Labeling With Decision Trees”, 2010 IEEE Transactions on Image Processing, 1596 - 1609, June 2010.
[38] Lifeng He, Yuyan Chao and Kenji Suzuki, “Two Efficient Label-Equivalence-Based Connected-Component Labeling Algorithms for 3-D Binary Images”, 2011 IEEE Transactions on Image Processing, 2122 - 2134, Aug. 2011.
[39] Mayssaa A. Najjar, Swetha Karlapudi and Magdy A. Bayoumi, “Memory-Efficient Architecture for Hysteresis Thresholding and Object Feature Extraction”, 2011 IEEE Transactions on Image Processing, 3566 - 3579, Dec. 2011.
[40] 賴岱佑，數位影像分析之智慧型監視系統，文魁圖書，9/1/2008.
[41] Microchip Technology, “dsPIC30F4011/4012 Data Sheet”, High Performance
Digital Signal Controllers, 2005 Microchip Technology Inc.

指導教授

李柏磊(Po-lei Lee)

審核日期

2012-8-8

推文