| Summary: | 碩士 === 國立交通大學 === 生醫工程研究所 === 101 === According to the statistics of the Ministry of Transaction and Communications, traffic accidents caused fatalities and injuries are increasing. Among all of accidents, collisions between vehicles and other generalized obstacles occur most frequently. Hence, researches related to driving safety and preventing obstacle collisions keep increasing. Many researchers proposed obstacle detection techniques based on stereo camera.
However, costs and complexities of installing a stereo camera are much higher than those of a single camera. Detecting obstacles via image processing based on single camera is therefore a valuable and challengeable problem. Typically, most of proposed systems applied motion-based methods and hence cannot detect static obstacles effectively without camera motion.
The objective of this thesis is to raise the safety of driving by detecting obstacle with certain height. Furthermore, marking the nearest target with measured distance can effectively avoid collision while reversing vehicles. In this thesis, we proposed a novel obstacle detection technique using monocular image. Obstacles diverge and stretch out, while an image is transformed by an IPM (inverse perspective mapping) model. Based on the mapping characteristic, we propose a radial scan technique to locate obstacles on an IPM transformed image. The proposed system can detect static obstacle without false alarming lane makings. Temporal analysis is applied to increase the robustness of the proposed system. Moreover, the proposed system also provides distance information of obstacles via bird-view image. The proposed system was tested for many conditions including parking and driving on the road or highway.
Experimental results demonstrated the effectiveness and accurateness of the proposed obstacle detection and distance measurement technique.
|
|---|
