臺灣博碩士論文加值系統

本論文提出一個基於單一相機的三維資訊量測系統，以實現媲美多台相機所得到的精確三維資訊量測結果，並可同時降低多台相機所造成的成本支出。在此系統中，基於物體在世界空間不變的原理，以旋轉平台帶動單一相機旋轉一周產生的多張不同水平視角立體影像，取代掉一般立體視覺系統的單水平視角立體影像，並進一步地校正得到的多張不同水平視角立體影像，接著計算多張不同水平視角立體影像的對應點，且藉由多視角影像的優勢進行錯誤對應點去除與優化的動作；此外，本論文還導入影像分割來對影像進行區域劃分，並進一步地將影像中缺乏對應點的區域進行三維資訊補強動作。最後，再利用差異值平方和分析對應點的相似度，並搭配相機參數與基於相機之相對位置的權重函數整合及優化多重視角影像的深度值，以此達到以單一相機取代多台相機的三維資訊量測效果，並取得比傳統單水平視角立體視覺系統更為寬廣目標環境三維資訊。

The thesis proposes a 3D information measuring system to realize a precise 3D information measuring results equivalent to that obtained from multiple cameras. In the system, based on the spatial invariant principle for an object, we use a rotational platform to drive a singular camera to rotate along a circle and generate multiple various horizontal view angle stereoscopic image to replace ordinary stereo vision system of single level view angle stereoscopic images. We further rectify the obtained multiple various horizontal view angle stereoscopic image, and calculate relative points of the multiple various horizontal view angle stereoscopic image, and through advantages of multiple view angle image to conduct inaccurate relative points removing and optimizing actions. Finally, by use of sum of squares to analyze the similarity of relative points and matched up with camera parameters and based on camera relative position weighted function integration and optimized multiple view angle image depth values, we achieve 3D information measuring effect with a single camera and acquires the 3D information which is wider than traditional single horizontal view angle stereoscopic vision system.

摘要
Abstract
誌謝
圖目錄
表目錄
中英文字對照
1 緒論
1.1 研究動機
1.2 論文架構
2 相關研究
2.1 立體影像匹配
2.1.1 基於相關性的對應方法
2.1.2 基於特徵的對應方法
2.2 多重基準線立體視覺
3 基礎原理與應用
3.1 立體視覺理論
3.1.1 立體視覺
3.1.2 同軸幾何
3.1.3 影像校正
3.2 影像特徵點描述
3.2.1 加速強健性特徵(SURF)
4 多重基準線之深度資訊量測
4.1 系統概述
4.2 系統平台介紹
4.3 基於旋轉之多重水平視角立體影像校正
4.3.1 立體影像校正前處理
4.3.2 校正板對應點偵測
4.3.3 立體影像校正
4.4 對應點擷取與匹配
4.4.1 影像亮度校正
4.4.2 特徵點擷取與匹配
4.4.3 匹配特徵點過濾
4.5 基於多重基準線之對應點優化
4.5.1 對應點座標轉換
4.5.2 交集對應點
4.5.3 對應點優化
4.6 三維資訊補強
4.6.1 影像分割
4.6.2 區域資訊補強
4.7 深度資訊估測與整合
4.7.1 基於多重基準線之深度資訊估測
4.7.2 深度資訊優化
4.7.3 整合權重資訊
5 實驗驗證與分析
5.1 實驗設備
5.1.1 硬體裝置規格
5.1.2 軟體開發環境
5.2 實驗設置
5.3 實驗結果
5.3.1 實驗一
5.3.2 實驗二
5.3.3 實驗三
6 結論與未來展望
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