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研究生:李紹瑋
研究生(外文):Lee, Shao-Wei
論文名稱:應用雷射光掃描影像辨識技術建構水下地形之研究
論文名稱(外文):The Studies of Constructing Underwater Ground by Using Laser Scanning Image Recognition Technology
指導教授:王舜民王舜民引用關係
指導教授(外文):Wang, Shun-Min
口試委員:陳政宏江佩如吳柏賢
口試委員(外文):Chen, Jeng-HorngChiang, Pei-JuWu, Bo-Hsien
口試日期:2021-09-17
學位類別:碩士
校院名稱:國立成功大學
系所名稱:系統及船舶機電工程學系
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2021
畢業學年度:109
語文別:中文
論文頁數:89
中文關鍵詞:影像處理線形雷射光無人水下載具
外文關鍵詞:Image processingLine laser lightUnmanned underwater vehicle
相關次數:
  • 被引用被引用:1
  • 點閱點閱:192
  • 評分評分:
  • 下載下載:46
  • 收藏至我的研究室書目清單書目收藏:1
基於水下載具的發展愈漸成熟,根據不同的環境與需求,可以安裝相對應的感測器來達成任務。因此本文研究主要目的在架設一個相機模組搭配線形雷射光作為輔助,利用即時影像處理技術來量測並記錄障礙物的深度資訊,同時將掃描範圍內的資訊進行分析與組合,建構出包含深度的3D資料。本研究的理論基礎是在單點雷射測距的理論上進行延伸,當待測物與相機模組的距離改變時,則雷射光在CCD上的成像亦會不同,利用此原理將單點雷射光更換為線形雷射光,則線形雷射光照射到的每一點都可被視為一筆距離資料,而資料的數據量取決於相機的解析度。將此相機模組與待測物以一定速度做相對運動並同時記錄下各個位置的數據,則經過分析與拼接後便能繪製出待測面的深度圖。在後續研究中,目標將此相機模組朝下安裝於一無人水下載具,透過移動載具來蒐集所經過範圍之地形資料,藉此達成建構水下地形之目標。
Based on the development of underwater vehicle is becoming more and more mature. According to different environments and demands, we can install the corresponding sensor to achieve the task. Therefore, the main purpose of this research is to set up a camera module with a linear laser instrument. Use real-time image processing technology to measure and record the depth information of obstacles, and at the same time, analyze and combine the numeric to construct 3D data. The theoretical basis of this research is to extend the theory of single-point laser ranging. When the distance between the object and the camera is changed, the image of the laser light on the CCD will also be different, using this principle to replace single-point laser light with line laser light. Every point projected by the linear laser light can be regarded as one of the distance data. Let the camera module and the object move relative to each other at a certain speed and record the data of each position at the same time. Then we can draw the depth map of obstacles by analyzing and combining the data. In the follow-up study, the goal is to install the camera module downwards on the unmanned underwater vehicle to collect terrain data, thereby achieving the goal of constructing underwater terrain.
摘要 I
致謝 IX
目錄 X
表目錄 XIII
圖目錄 XIV
符號 XVIII
第一章 緒論 1
1-1研究背景 1
1-2研究動機與目的 2
1-3文獻回顧 2
1-4 論文架構 4
第二章 攝影機介紹 5
2-1相機模型 5
2-2影像像素解析度 7
2-3 CCD內部校正理論 10
2-4 CCD內部校正結果 13
2-5 水下影像之CCD內部校正 18
第三章 理論基礎 21
3-1雷射測距 21
3-2三角測量理論 21
3-3線形雷射光測距 24
3-4地形建構理論 25
3-5 pixel位置轉換為實際座標 27
第四章 影像前處理 29
4-1 色彩系統轉換 29
4-1-1 RGB色彩系統 30
4-1-2 HSV色彩系統 32
4-2 影像灰階化 33
4-3 影像二值化 34
4-3-1整體門檻值法 35
4-3-2動態門檻值法 36
4-4 影像空間濾波器 40
4-4-1 平均濾波(Averaging Filter) 41
4-4-2 中間值濾波(Median Filter) 43
第五章 實驗結果與分析 46
5-1 單點雷射測距 46
5-2 線形測距回歸曲線實驗 53
5-3障礙物之寬度與深度量測 59
5-3-1距離量測誤差 60
5-3-2圓柱體量測 61
5-3-3長方體測量 64
5-4 水下地形建構 71
第六章 結論與建議 81
6-1 結論 81
6-2 未來展望 83
參考文獻 85
附錄A. 程式碼介紹 88
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