基於Kinect之坡度與障礙物偵測系統

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姓名

關凡奕(Fan-yi Kuan) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

基於Kinect之坡度與障礙物偵測系統
(A Kinect- based Ramp and Obstacle Detection System)

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至系統瀏覽論文 ( 永不開放)

摘要(中)

本篇論文提出一套以Kinect 為基礎的盲人步行警示系統，利用
空間測距的概念將環境中的資訊轉換到距離影像上進行分析。Kinect
具有距離量測的功能，利用其量測到的深度資訊，配合路面偵測演算
法，將其資訊轉換到三維空間中，以建立起相對於環境中的空間資訊，
進而偵測各種障礙物、凹洞、坡度等情形。
本系統進一步開發障礙物偵測、凹陷偵測、坡度偵測等演算邏輯，
希望能讓使用者在行走時更能瞭解周遭的環境，有別於其它被動提供
行走指示的系統，本系統提供環境資訊讓盲人能夠判斷行走的路徑。
使用的偵測概念包括，在凹陷偵測的想法上是利用凹陷的最大面積與
最大深度最為考量依據；而坡度偵測則是利用空間向量的概念進行角
度計算，作為坡度的考量。系統的研究成果已經證明能夠進行坡度與
障礙物的即時偵測，未來研究將讓使用者能更自主性的選擇移動的方
向，改善盲人對於周遭環境的判斷情形。

摘要(英)

This thesis proposed a Kinect-based surveillance system to help blind people in walking environments. With the salient feature of Kinect in distance measurements, the depth information can be converted into three -dimensional space by means of a road surface detection algorithm.
After establishing the 3D spatial information of ramp and obstacles relative to the environment, walking environmental obstacles, such as caves, ramps and other circumstances, can be detected.
The present system developed detection algorithms for obstacle, cave, and ramp to assist users better understanding of the environmental situation. Different from other system which provides users walking instructions passively, our system provides environmental obstacle
information for blind people to plan optimal walking routes under variant circumstances. The cave detection takes both the maximum area and maximum depth of the cave; the ramp detection is based on calculating the angle between normal vectors of ramp and reference planes. The study results have demonstrated the effectiveness of the proposed system.
Future studies will apply this system to help blind people for improving judgment of the surrounding environment.

關鍵字(中)

★ Kinect
★ 凹陷偵測
★ 坡度偵測

關鍵字(英)

★ Kinect
★ cave detection
★ ramp detection

論文目次

中文摘要..................... I
英文摘要..................... II
致謝........................ III
目錄........................ IV
圖目錄....................... VI
表目錄....................... IX
第一章緒論................... 1
1-1 研究動機 ................. 1
1-2 研究目的 ................. 2
1-3 論文架構 ................. 2
第二章文獻回顧與探討........... 3
2-1 導盲系統介紹.............. 3
2-1-1 電子探索式輔助系統 ...... 3
2-1-2 引導式機器人 ........... 4
2-1-3 穿戴式引導腰帶 .......... 5
2-1-5 導盲機械犬 ............. 7
2-1-6 電子晶片與人工視網膜植入 .. 8
2-1-7 導盲系統之回顧與探討 .... 9
2-2 空間測距技術 ............ 10
2-2-1 三角測距技術 ............ 11
2-2-2 結構光測距技術 .......... 12
2-2-3 時差測距技術 ............ 13
2-3 Kinect 介紹.............. 14
2-3-1 硬體規格 ............... 14
2-3-2 Kinect for Windows SDK 系統需求 ............................ 17
2-3-3 深度影像原理介紹 ........ 18
2-3-4 Kinect 相關應用 ........ 23
第三章研究方法................. 26
3-1 系統架構 .................. 26
3-2 Kinect 空間測距........... 27
3-2-1 骨架空間(Skeleton space) ............................. 27
3-2-2 Kinect 誤差檢視 ......... 29
3-3 路面偵測.................. 34
3-3-1 路面偵測演算流程 .......... 35
3-3-2 鄰域增長法 ............... 37
3-3-3 路面區域影像 ............. 38
3-4 障礙警示 .................. 39
3-5 凹陷偵測 ................... 40
3-5-1 凹陷偵測演算流程 .......... 42
3-5-2 影像校正 ................ 44
3-5-3 面積計算 ................ 44
3-6 坡度偵測 .................. 47
第四章實驗結果................. 49
4-1 室內/ 室外障礙物偵測 ........ 49
4-2 室外凹陷偵測 ............... 54
4-3 室內/ 室外坡度偵測 .......... 60
第五章結論與未來展望............. 69
參考文獻........................ 70

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指導教授

李柏磊(Po-Lei Lee)

審核日期

2013-8-16

推文