| Summary: | 碩士 === 國立中央大學 === 資訊工程學系 === 101 === In recent years, surrounding top-view monitoring systems are becoming a practical driving aid that help reducing collision hazards by eliminating blind spots. Many of such systems provide short range views surrounding the vehicle, limiting its application to parking and reversing. In this paper, we propose a practical system for creating a wide-scoped surrounding imagery around the vehicle and highlighting obstacles in the driving environment. By using a calibration board setup, the cameras we mounted on each side of the vehicle can be calibrated so the projections of the cameras form a continuous surround view on a dual-camber model. The projected imagery gives drivers the freedom to change view-point to suit different driving needs. By estimating the ego-motion of the vehicle using the input image sequence of the cameras, the proposed system is able to detect objects in the images by finding movements of features that do not correspond to ground motion relative to vehicle motion. Detected obstacles are highlighted in the wide-scoped surround top-view imagery to warn the driver of potential hazards.
We tested our system against asphalt, concrete, and tiled road surfaces with obstacles in the scene. The results show while concrete and tiled surface features can be effectively removed, feature-poor asphalt surface is prone to misdetection for errors introduced during calibration and ego-motion estimation.
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