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研究生:潘逸倫
研究生(外文):Yi-Luen Pan
論文名稱:結構與非結構道路之快速偵測技術
論文名稱(外文):Fast Detection Technique for Structured and Unstructured Roads
指導教授:黃勇仁黃勇仁引用關係
指導教授(外文):Yong-Ren Huang
學位類別:碩士
校院名稱:樹德科技大學
系所名稱:資訊工程學系
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:2009
畢業學年度:97
語文別:中文
論文頁數:110
中文關鍵詞:道路偵測最小平方近似法影像處理
外文關鍵詞:Road DetectionLeast Squares ApproximationImage Processing
相關次數:
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  • 下載下載:8
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本篇論文提出一個利用影像處理技術,從影像中偵測出車輛前方路面的駕駛範圍,利用這樣的資訊可以輔助駕駛人對於車輛前方環境的了解。研究中提出了一個快速的道路偵測技術,可以對結構性道路路線與非結構性道路邊界進行偵測,系統以路面環境的判斷確認當前的道路結構,並依照該判斷的結果自動地切換至結構性與非結構性的道路偵測技術。在結構性道路偵測方面,我們以邊緣偵測與計算斜率的方式計算出路面上最為可能的路線邊界,並以最小平近似方法推測出路面上路線的位置,最後利用先前穩定的偵測結果來修正目前的結果,使系統在偵測上更顯穩定。
在非結構性道路偵測方面,我們利用人工取樣的路面顏色區塊,計算出道路表面可能的顏色範圍,並且依據路面偵測的結果以隨機取樣的方式不斷的讓系統自動更新道路表面顏色偵測資訊,並也以先前穩定的偵測結果來修正當前的偵測結果。研究中我們測試了高速公路、市區道路以及鄉村小路都獲得不錯的成果,也同是證明了在不需高運算量以其昂貴設備的幫助下,也能夠有效地從影像中偵測出前方路面的駕駛範圍。
This paper presents a road detection technology for the driving range, which measures road lines or roads surface in front of the vehicle to assist the driving. We propose fast methods for dealing with both structured and unstructured roads. Our method detects the road environment to decide the structure of the current road, and automatically switch to the structured and unstructured road detection algorithm by the detection result. In the structured roads detection, we detect the vertical points on the predefined regions of road surface. And we employ the slope filtering to eliminate the redundant points and least squares approximation to locate the road lines of the road surface. Finally, for refinement the results of following detection, we modify the current results by previous results.
In unstructured road detection, we use artificial colors sampling from the predefined road surface blocks to calculate the mean and variance values of RGB color. We employ the results to detect the road surface and random sampling for updating the values of mean and variance in order to automatically learning the continuously road surface color information. Similar to the structural road detection, we modify the current results by previous results for the refinement. In our experiment, there are three kinds of video sequences which are the highways, urban roads and rural roads. The experimental results show the high efficiency and performance, as well as prove that the lower computational complexity using our methods.
中文摘要 i
英文摘要 ii
目錄 iii
表目錄 v
圖目錄 vi
第一章 、緒論 1
1-1 簡介 1
1-2 研究動機與目的 2
1-3 系統基本架構 7
第二章 、相關研究 9
2-1 結構性道路偵測 9
2-2 非結構性道路偵測 14
第三章 、道路偵測技術 19
3-1 系統架構與流程 19
3-2 路面結構判斷 21
3-2-1 日夜偵測 21
3-2-2 低通濾波 24
3-2-3 抽取路線邊界點 27
3-2-4 以斜率去除雜訊點 32
3-2-5 路面環境判斷 34
3-3 結構性道路偵測 37
3-3-1 最小平方近似法 37
3-3-2 修正路線偵測結果 39
3-4 非結構性道路偵測 43
3-4-1 取樣計算 44
3-4-2 路面偵測 48
3-4-3 中值濾波 51
3-4-4 路面取樣與更新 52
3-4-5 抽取路面邊界點 57
3-4-6 路面邊界偵測 60
3-4-7 修正路面偵測結果 60
第四章 、實驗結果與分析 63
4-1 結構性道路實驗結果 64
4-1-1 白天下高速公路偵測結果 64
4-1-2 夜間高速公路偵測結果 69
4-1-3 白天市區道路偵測結果 75
4-1-4 夜間市區道路偵測結果 77
4-1-5 雨天道路偵測結果 79
4-2 非結構性道路實驗結果 81
4-2-1 穩定路面偵測結果 81
4-2-2 非穩定路面偵測結果 85
4-3 整體偵測結果 88
4-4 效能分析與比較 88
4-4-1 結構性道路偵測比較 89
4-4-2 非結構性道路偵測比較 92
第五章 、結論與未來研究 97
5-1 結論 97
5-2 未來研究 97
參考文獻 99
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