臺灣博碩士論文加值系統

本論文提出一套道路偵測的方式，以求更貼切標示出彎路之道路線。首先將一條二次曲線方程式，以所偵測到的邊緣點座標值代入，而找出其誤差平方和為最小之多項式係數解，能得到道路線的近似曲線。而本研究乃是搜尋出最適當的邊緣點當作分段點，接著分別求出此點所區分出的上、下兩部份邊緣點之近似二次曲線，此兩部份的誤差平方和，合併計算後為最小。最後結合此兩部份的近似曲線，即為分段式二次曲線。
藉由在不同情況的影像中，採取本研究所提出的偵測方法來測試，能發現在某些難以準確描述道路線的路段，均可由我們所提出的方法適當地標示出來，顯示本研究於道路偵測時，能夠達到不錯的成果。

In this thesis, we propose a new way to describe the road boundary more accurately. Originally, based on the 2nd–order polynomial equation, we can substitute the coordinates of the boundary points into the equation and minimize the sum of square errors to obtain the polynomial solution and hence the approximate curve. However, the quadratic polynomial curve cannot fit all road boundary curves well, especially when the road has abrupt turning point. In these cases, even though the higher order polynomial can be applied yet too complicated to solve.
In this research, we try to find a boundary point which separates the whole curve into two segments, and the total sum of square errors of the two curve segments must be minimized. According to our experiments, the curves turned out are definitely more accurate, especially the road has sharper turning point. The time needed to spend for this is to be considered next.

致謝詞 .................................................. I
中文摘要................................................ II
英文摘要 .............................................. III
目錄.................................................... IV
圖目錄 ................................................. VI
表目錄 ................................................. IX
第一章 簡介 ............................................. 1
1.1 動機與目的 .......................................... 1
1.1.1 動機 .............................................. 1
1.1.2 目的 .............................................. 1
1.2 相關研究 ............................................ 2
1.3 系統之基本功能與架構 ................................ 3
1.3.1系統之基本功能 ..................................... 3
1.3.2系統之架構 ......................................... 3
第二章 道路偵測之影像前置處理 ........................... 6
2.1 影像強化 ............................................ 6
2.2 影像邊緣點之偵測 .................................... 7
2.3 影像之相連成標記法 .................................. 9
第三章 分段式二次曲線近似法 ............................ 10
3.1 不分段二次曲線 ..................................... 10
3.2 分段式二次曲線 ..................................... 12
3.2.1 下半段二次曲線 ................................... 13
3.2.2 上半段二次曲線 ................................... 14
3.2.3 產生分段式二次曲線 ............................... 16
3.3 誤差均方根 ......................................... 17
第四章 道路偵測之分段式二次曲線程序 .................... 18
4.1 不分段二次曲線 ..................................... 18
4.2 分段點的決定 ....................................... 18
4.2.1 逐一比較法 ....................................... 18
4.2.2 縮減搜尋範圍比較法 ............................... 18
4.3 分段式二次曲線 ..................................... 20
4.4 近似曲線圖的比較與採用 ............................. 20
第五章 實驗結果與分析 .................................. 21
5.1 實驗設備與環境 ..................................... 21
5.2 實驗結果 ........................................... 22
5.3 成果分析 ........................................... 30
第六章 結論與未來展望 .................................. 32
6.1 研究結論 ........................................... 32
6.2 未來展望 ........................................... 32
參考文獻 ............................................... 34
附錄一 ................................................. 37
作者簡介 ............................................... 38

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