Obstacle Detection in A Wide-scope Top-view Monitoring System

• Main Authors: Yi-Ting Chen, 陳易廷
• Other Authors: Din-Chang Tseng
• Format: Others
• Language: zh-TW
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/78880105284201495308

碩士 === 國立中央大學 === 資訊工程學系 === 103 === A lot of traffic accidents are caused by driver's incomplete understanding of the whole vehicle surroundings. To reduce the accidents caused by collision with surrounding obstacles, we mount four wide-angle cameras at the front, rear, and both sides of the vehicle to capture consecutive images; then we present a real-time wide-scope top-view monitor and obstacle detection system for driving and parking assistance. In offline steps of wide-scope top-view monitor system, we first calibrate camera intrinsic parameters, distortion of lens, and vignetting effects of four wide-angle cameras. Then we calibrate the geometric relationships (extrinsic parameters) of four cameras using a big calibration board. Third, we calculate the feathering weights of pixels on overlapped image areas to produce a seamless surrounding top-view image. Fourth, from the image center, we utilize different function for different radius distance to shrink the seamless surrounding top-view to produce a wide-scope top-view image. At last, we build look-up tables for the mapping between the captured images and the surrounding synthesized image to speed up the processing. In online procedure, the proposed system interpolates and generates the surrounding synthesized image by those look-up tables directly. In obstacle detection system, we have four camera images evenly divided blocks, retained the block with strong feature, and then merge the blocks with strong feature and being adjacent, known as the obstacle candidate blocks. Then utilize the plane-elevation process, confirm the candidate block objects as obstacles rather than pavement markings and other flat objects; and finally using the lookup table information, mark obstacle position on the entire wide-scope top-view image to warn drivers.