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博碩士論文 etd-0821115-113450 詳細資訊
Title page for etd-0821115-113450
論文名稱
Title
立體視覺輔助路邊停車系統
A Parallel Parking Assistant System Using Stereo Vision
系所名稱
Department
畢業學年期
Year, semester
語文別
Language
學位類別
Degree
頁數
Number of pages
80
研究生
Author
指導教授
Advisor
召集委員
Convenor
口試委員
Advisory Committee
口試日期
Date of Exam
2015-08-31
繳交日期
Date of Submission
2015-09-21
關鍵字
Keywords
俯視顯示圖、停車輔助、雙眼視覺、相機校正、FAST角點偵測
Top-view display, Parking assistant, Stereo vision, Camera calibration, FAST corner detection
統計
Statistics
本論文已被瀏覽 5652 次,被下載 688
The thesis/dissertation has been browsed 5652 times, has been downloaded 688 times.
中文摘要
常見的車輛輔助停車系統如後照鏡與倒車攝影機,其視野範圍是局部的,對於經驗不足的駕駛者來說,並無法利用局部視野,想像出車體與停車格的相對空間關係。
本文希望設計一停車輔助系統,該系統能持續繪出車體與停車格位置的俯視圖,供駕駛者做為停車參考。系統包含兩個安裝於車後方的廣角攝影機,為了使其有效率的偵測出影像中的停車格後方兩角點,於是應用了FAST角點偵測;接著再利用雙眼視覺原理,估測停車格的三維空間座標,另外為了使估測座標更為準確,會代入10個相機內部參數於雙眼視覺系統之中。經由上述的步驟,便可以繪出包含車體與停車格相對關係的俯視圖。
最後會進行一系列的實驗來驗證系統的效用,此系統的俯視圖繪製速率可達到一秒鐘9張,總體來說,此系統的確能夠提供相對正確的俯視圖資訊進而幫助駕駛者完成停車任務。
Abstract
In general, vehicle parking assistant systems, such as side mirror and rear view camera, provide limited field of view. For inexperienced drivers, they usually can not use this limited information to accomplish the mission of parking by estimating the relative position of their cars and parking space .
This paper aims to design a parking assistant system that can continue drawing the top view of the vehicle and the parking space for drivers as the parking reference. The system applied two wide-angle cameras installed at the rear of the vehicle. In order to search for two farther corners of the parking space with efficiency, the FAST corner detection technique is employed. Three dimensional spatial coordinates of those corners can therefore be determined by the stereo vision theorem. Besides, for the purpose of accuracy, 10 internal parameters of the camera are considered in the binocular vision system. As a result, the top view regarding the relative position of the vehicle and the parking space can be displayed.
Finally, a series of parking experiments were conducted to verify the effectiveness of the proposed parking assistant system. The display frequency for the system is about 9 frames per second. Overall the presented system did provide correct enough top view information and help drivers achieving their parking tasks.
目次 Table of Contents
目錄
論文審定書 i
謝誌 ii
摘要 iii
Abstract iv
目錄 v
圖次 vii
表次 xi
第一章 緒論 1
1-1研究動機與目的 1
1-2文獻回顧 3
1-3論文架構 7
第二章 影像感測器與內部參數校正 8
2-1相機規格介紹 8
2-2 相機成像針孔模型 10
2-3相機內部參數 12
2-3-1內部幾何參數 12
2-3-2內部扭曲參數 15
2-4相機校正 18
第三章 停車格角落偵測 21
3-1影像處理方法 21
3-1-1 RGB影像灰階化 21
3-1-2 FAST角點偵測 22
3-2停車格角點偵測流程 24
3-2-1初始設定 25
3-2-2角點偵測 26
3-2-3 篩選內角點 27
3-2-4 下一時刻的內角點搜尋 31

第四章 雙眼視覺估測三維空間座標 32
4-1雙眼視覺的優點 32
4-2雙攝影機的架設 33
4-3三維空間座標估測 35
4-4俯視圖繪製 41
第五章 系統概述與實驗 43
5-1系統架構 43
5-2實驗流程與結果 45
5-2-1 實驗一 46
5-2-2實驗二 56
5-3實驗結果討論 63
第六章 結論與未來展望 64
參考文獻 66
參考文獻 References
[1] 黃俊翰,以雙眼視覺輔助路邊停車,國立中山大學機械與機電工程學系碩士論文,中華民國101年7月。

[2] 汽車後視技術 2018年正式上路
https://anntw.com/articles/20140402-9fye

[3] 游秋榮,應用立體視覺之自動停車系統設計與實現,國立台北科技大學車輛工程系碩士論文,中華民國98年7月。

[4] 吳瑞鴻、劉景富,行徑軌跡指示之倒車輔助系統開發,財團法人車輛研究測試中心,中華民國95年7月。

[5] Buyue Zhang,"A surround view camera solution for embedded systems,"
IEEE Computer Vision and Pattern Recognition Workshops(CVPRW), Columbus Ohio, June 2014, pp.676 - 681.

[6] Ho Gi Jung,"Light Stripe Projection Based Parking Space Detection for Intelligent Parking Assist System," IEEE Intelligent Transportation Systems, Volume.11, Issue.4, Dec 2010, pp.942 - 953.

[7] Edward Rosten and Tom Drummond, "Machine learning for high-speed
corner detection", ECCV'06 Proceedings of the 9th European conference on Computer Vision, Volume.1, Berlin, Heidelberg, 1 Jan 2006, pp.430 - 443.

[8] MathWorks-support-cameraParameters class
http://www.mathworks.com/help/vision/ref/cameraparameters-class.html

[9] Camera Calibration Toolbox for Matlab - Description of the calibration parametershttp://www.vision.caltech.edu/bouguetj/calib_doc/htmls/ parameters.html


[10] Jae Kyu Suhr, "Full automatic recognition of various parking slot markings using a hierarchical tree structure," IEEE Intelligent Transportation Systems, Anchorage, AK, 16-19 Sept 2012, pp.1294
-1299.


[11] Jae Kyu Suhr, "Sensor Fusion Based Vacant Parking Slot Detection
and Tracking," IEEE Intelligent Transportation Systems,Volume.15,
Issue.1, Feb 2014, pp.21-36.

[12] Ho Gi Jung , "Two-Touch Type Parking Slot Marking Recognition for
Target Parking Position Designation," IEEE Intelligent Vehicles
Symposium, Eindhoven, 4-6 June 2008, pp.1161-1166.

[13] Ho Gi Jung, "Parking Slot Markings Recognition for Automatic Parking Assist System," IEEE Intelligent Vehicles Symposium, Tokyo, 2006, pp.106-113.

[14] 李真忠,運用立體視覺之指尖偵測與互動系統,私立中原大學資訊工程學系碩士論文,中華民國100年8月。

[15] 呂承翰,應用數位影像處理之停車系統,國立台灣海洋大學機械與機電工程學系碩士論文,中華民國101年7月。
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