道路及行車狀況偵測之單眼電腦視覺技術研究

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姓名

陳冠維(Kuan-Wei Chen) 查詢紙本館藏

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資訊工程學系

論文名稱

道路及行車狀況偵測之單眼電腦視覺技術研究
(Monocular Computer Vision Techniques for Road and Driving Situation Detection)

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★ 建立在動態載入多重解析度地形模塑的戰術模擬	★ 以多階分割的空間關係做人臉偵測與特徵擷取
★ 以小波轉換為基礎的影像浮水印與壓縮	★ 外觀守恆及視點相關的多重解析度模塑

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摘要(中)

近年來，行車安全愈來愈受到人們重視。為了改善行車安全，本論文使用一部架設在車上的相機擷取前方道路影像以偵測道路及行車狀況。本研究所包含的偵測工作有：車道線偵測、多車道位置估計、車道線分類及前車距離估計。
車道線是藉由在影像中搜尋車道線模型中的最佳參數來求得，同時藉由限制車輛的偏轉角度來減少搜尋空間以達到即時偵測的需求，並利用累積邊緣點的方式將車道線分類。多車道位置估計則是利用一限制的公式，不需額外地搜尋就可估計出相鄰車道的位置。相機相對於空間座標系統的傾斜角度和偏轉角度可以由車道線的消失點推論得知，因此前車距離可藉由得到傾斜角估計求出。
實驗結果顯示本研究所提出的方法可以有效地偵側出本車道與相鄰車道的車道線位置，前車距離估計與車道線分類可提供更多有用資訊給駕駛人。在 Pentium 4 2.4GHz 的一般個人電腦上執行車道線偵測、虛實車道線分類、多車道位置估計、與偏離車道警示所需的平均處理時間約為0.027秒。

摘要(英)

Recently, people pay much attention on driving safety. To improve the driving safety, we used a camera mounted on the vehicle to capture road scenes for road and driving situation detection. The detection tasks in this study include lane marking detection, multi-lane estimation, lane marking classification, and front-vehicle distance estimation.
The lane markings are detected by searching the optimal parameters of a defined lane model on the images. By restricting the yaw angle of the vehicles, the searching space can be reduced to achieve the real time requirement. The multiple lane estimation method estimates the adjacent lanes based on a restricted formula without any search. The lane markings are classified based on a proposed method of accumulating edge pixels. The tilt and pan angles of camera related to the world coordinate system can be inferred from the vanishing point of lane markings. The distance to a front vehicle is then estimated from the acquired tilt angle.
The experimental results show that the proposed method can detect the current lane markings and adjacent lanes efficiently. The estimated distance and lane marking classification are good enough to provide more information to the drivers. The whole processing time of the proposed system is about 0.027 seconds in average on a 2.4 GHz Pentium-based personal computer.

關鍵字(中)

★ 前車距離估計
★ 多車道位置估計
★ 虛實車道線分類
★ 車道線偵測

關鍵字(英)

★ lane classification
★ lane detection
★ distance estimation
★ muliple lane estimation

論文目次

摘要 I
誌謝 II
目錄 III
第一章序論 1
第二章相關研究 2
第三章減少搜尋空間的車道線偵測 3
第四章虛實車道線分類 4
第五章多車道位置估計 5
第六章單眼電腦視覺之前車距離估計法 6
第七章實驗 7
第八章結論 8
附錄　英文版論文 9

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指導教授

曾定章(Din-Chang Tseng)

審核日期

2005-7-19

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