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研究生:陳俊穎
研究生(外文):Jiun-Ying Chen
論文名稱:以色彩為基礎之即時道路區域分割與障礙物偵測
論文名稱(外文):Real-time Color Based Road Segmentation and Obstacle Detection
指導教授:林昇甫林昇甫引用關係
指導教授(外文):Sheng-Fuu Lin
學位類別:碩士
校院名稱:國立交通大學
系所名稱:電機與控制工程系所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2005
畢業學年度:93
語文別:中文
論文頁數:84
中文關鍵詞:障礙物
外文關鍵詞:obstacle
相關次數:
  • 被引用被引用:0
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智慧型運輸系統是近年來世界各國研究努力發展的重點之一,而障礙物偵測為智慧型運輸系統計畫內極為重要的一環。本篇論文利用裝設於車上之單一影像擷取設備取得車輛前方影像,接著利用影像色彩資訊及影像序列完成障礙物偵測的目的。
我們利用色彩資訊分割出影像中道路區域,並減少道路上的標線文字對系統所造成的影響。我們即把搜尋區域集中於所偵測之道路區域上。這樣不僅可以減少複雜背景對偵測系統所造成的影響更可以增加系統的穩健性。之後我們利用邊緣偵測及陰影特徵偵測出道路區域上之障礙物。
根據實驗結果可以看出在良好的道路區域分割下,本系統偵測障礙物的準確率均有不錯的效果。且去除道路文字標線影響及陰影臨界值的更新均對系統效率有著卓越的幫助。
目錄

中文摘要 i
英文摘要 ii
誌謝 iii
目錄 iv
圖目錄 vii
表目錄 x

第一章 緒論 1-1
1.1 智慧型車輛運輸系統之介紹 1-1
1.2 研究動機 1-3
1.3 相關論文研究 1-3
1.3.1 道路偵測 1-4
1.3.2 障礙物偵測 1-4
1.4 其餘章節架構 1-6

第二章 影像處理技術介紹 2-1
2.1 成相幾何學與照相機校準 2-1
2.2 影像模型 2-4
2.3 邊界偵測 2-5
2.4 影像臨界值法 2-9
2.5 連通量分析 2-10
2.6 障礙物追蹤 2-13
2.6.1 障礙物位置預測 2-14
2.6.2 特徵比對 2-15

第三章 道路分割與障礙物偵測 3-1
3.1 系統概述 3-2
3.2 相機校正 3-3
3.3 道路分割 3-5
3.4 障礙物偵測 3-13
3.4.1 障礙物定義 3-13
3.4.2 道路區域邊緣偵測 3-15
3.4.3 陰影偵測 3-17
3.4.4 利用影像序列追蹤驗證障礙物 3-19
3.5 障礙物距離估測 3-22

第四章 實驗結果與分析 4-1
4.1 系統架構與效能評估 4-1
4.1.1 系統軟硬體架構 4-1
4.1.2 系統效能評估 4-2
4.2 實驗結果 4-3
4.3 分析比較 4-17
4.4 結果討論 4-18
第五章 結論 5-1
參考文獻 I
參考文獻

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